version: 66.13
glider: 401
mission: 22
dive: 1204
start: 8 17 117 9 18 59
data:
$ID,401
$MISSION,22
$DIVE,1204
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$D_FINISH,2
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,19
$T_MISSION,32
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,6
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5650
$TGT_DEFAULT_LON,-16401
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,-3
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,50945
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,220
$PITCH_MAX,3693
$C_PITCH,2340
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,11
$PITCH_TIMEOUT,50
$PITCH_AD_RATE,70
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3888
$ROLL_DEG,20
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,53
$VBD_MAX,4044
$C_VBD,2485
$VBD_DBAND,2
$VBD_CNV,-0.85860002
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,180
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.9827
$PRESSURE_SLOPE,3.2755801e-05
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,11
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,165
$DEVICE3,115
$DEVICE4,134
$DEVICE5,151
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044153114
$SEABIRD_T_H,0.00064861565
$SEABIRD_T_I,2.6621732e-05
$SEABIRD_T_J,3.3947326e-06
$SEABIRD_C_G,-10.162049
$SEABIRD_C_H,1.142972
$SEABIRD_C_I,-0.0032838252
$SEABIRD_C_J,0.00030784801
$SEABIRD_C_Z,0
$GPS1,170817,090957,6205.4160,-17425.9121,7,0.8,27,6.8,0.0,267.3,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-18.4
$GPS2,170817,091823,6205.4102,-17425.9688,6,0.8,22,6.8,0.5,327.4,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W13N
$TGT_LATLONG,6211.700,-17441.039
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.348684,0.184430
$KALMAN_X,64150.898438,-643.632690,-260.249359,-264231.375000,141.595306
$KALMAN_Y,-72306.695312,3184.768311,1013.936462,352782.687500,-53.126038
$MHEAD_RNG_PITCHd_Wd,305.0,17470,-11.5,-10.526,-14.94,6951
$D_GRID,60
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-1.78,-487.5,230,1957,1607,4092,0.0,0.0,0,21,9.82,0.00,0.00,0.000,2049,0.075,0.000,1090,1958,1607,1607,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.18,52.08
$GC,25,-1.78,-487.5,1089,1957,1607,4094,0.4,0.0,1,52,7.85,1.17,-13.57,0.000,18692,0.090,1.261,1760,2375,3057,3057,4094,0,0,0,0,0,0,25.82,24.47,25.92,10.18,51.92
$GC,142,-1.78,-487.5,1760,2375,3060,4094,12.0,-14.0,17,151,0.00,1.10,0.00,0.000,1030,0.000,0.031,1760,1938,3060,3060,4095,0,0,0,0,0,0,25.97,25.93,25.99,10.50,51.53
$GC,189,-1.78,-487.5,1760,1937,3061,4095,18.2,-13.9,23,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1938,3061,3061,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.50,51.45
$GC,235,-1.78,-487.5,1760,1938,3062,4094,23.7,-11.5,29,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1938,3062,3062,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.47,50.66
$GC,281,-1.78,-487.5,1760,1938,3062,4095,28.2,-9.8,35,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1938,3062,3062,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.43,49.92
$GC,328,-1.78,-487.5,1760,1937,3064,4094,32.8,-10.0,41,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1937,3063,3063,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.41,48.46
$GC,374,-1.78,-487.5,1760,1937,3064,4094,37.7,-10.7,47,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1938,3064,3064,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.39,47.44
$GC,419,-1.78,-487.5,1760,1937,3065,4095,42.7,-10.6,53,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1937,3066,3066,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.38,46.37
$GC,465,-1.78,-487.5,1760,1938,3066,4094,47.8,-11.3,59,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1938,3066,3066,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.37,46.81
$GC,510,-1.78,-487.5,1760,1938,3067,4094,52.8,-11.3,65,520,0.00,1.15,0.00,0.000,260,0.000,0.043,1760,2370,3067,3067,4095,0,0,0,0,0,0,26.47,26.17,26.48,10.36,45.90
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,582,-0.45,0.0,1761,2113,3068,4094,60.3,-11.2,74,618,4.57,0.00,28.42,1.310,10244,0.056,0.000,2186,2111,2483,2483,4094,0,0,0,0,0,0,26.20,25.29,24.22,10.35,45.82
$STATE,619,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,623,1.78,487.5,2186,2111,2484,4094,63.0,0.0,78,668,7.53,1.23,28.08,1.283,10500,0.031,0.050,2891,2557,1915,1915,4094,0,0,0,0,0,0,25.49,25.48,23.82,10.22,45.11
$GC,731,1.78,487.5,2891,2557,1914,4094,53.7,12.2,92,741,0.00,1.00,0.00,0.000,1030,0.000,0.025,2892,2155,1914,1914,4094,0,0,0,0,0,0,25.49,25.46,25.53,10.09,44.88
$GC,778,1.78,487.5,2891,2155,1913,4094,48.2,11.3,98,788,0.00,1.12,0.00,0.000,516,0.000,0.045,2891,1726,1913,1913,4095,0,0,0,0,0,0,25.82,25.53,25.84,10.08,45.39
$GC,877,1.78,487.5,2891,1726,1910,4095,36.8,11.8,112,887,0.00,0.98,0.00,0.000,1030,0.000,0.028,2892,2125,1910,1910,4094,0,0,0,0,0,0,25.81,25.78,25.84,10.07,45.74
$GC,924,1.78,487.5,2891,2125,1909,4094,31.5,11.4,118,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1908,1908,4094,0,0,0,0,0,0,26.10,26.10,26.10,10.07,46.22
$GC,970,1.78,487.5,2891,2125,1907,4094,26.4,10.8,124,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1907,1907,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.07,46.65
$GC,1016,1.86,541.6,2891,2125,1907,4094,21.7,9.7,130,1027,0.17,1.08,4.30,0.519,10756,0.057,0.046,2916,1720,1852,1852,4094,0,0,0,0,0,0,25.97,25.75,24.82,10.08,46.81
$GC,1135,2.12,716.0,2916,1719,1849,4094,12.7,8.0,146,1154,0.80,1.02,10.52,0.679,11270,0.024,0.029,2997,2140,1648,1648,4094,0,0,0,0,0,0,26.06,26.02,24.92,10.14,50.74
$GC,1193,2.12,716.0,2997,2140,1646,4094,6.0,11.0,153,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2140,1646,1646,4094,0,0,0,0,0,0,26.18,26.19,26.19,10.12,51.41
$STATE,1229,end climb,FINISH_DEPTH_REACHED
$STATE,1229,begin subsurface finish
$FINISH1,1.4,1.023816,124
$GC,1238,0.19,124.4,2997,2140,1644,4094,1.4,11.9,158,1257,6.18,0.00,-6.47,0.000,20486,0.024,0.000,2404,2140,2342,2342,4094,0,0,0,0,0,0,25.98,25.42,26.03,10.12,52.08
$FINISH2,0.1
$STATE,1258,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1258,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,075654
$TT8_MAMPS,0.024717,0.255409
$HUMID,52.79
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.82,33.747
$10V_AH,10.11,35.328
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,36.925,10.450,71.325,0.000,0.000,23.897,25.821,262.389,0.000,0.000,23.211,439.523,0.000,135.036,979.126,225.510,0.000,403.518,0.000,388.641,0.000,0.544,0.000
$DEVICE_MAMPS,89.505,1260.720,1309.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.470,434.735,343.990,510.431,668.314,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,14210,160
$CAP_FILE_SIZE,33423,0
$CFSIZE,1024409600,960315392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170817,091823,6205.410,-17425.969,6,0.8,22,6.8,0.5,327.4,10,5.0