version: 66.13
glider: 401
mission: 22
dive: 1220
start: 8 17 117 15 44 39
data:
$ID,401
$MISSION,22
$DIVE,1220
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,170817,152304,6208.5190,-17428.7559,15,0.8,19,6.7,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.9
$GPS2,170817,152304,6208.5190,-17428.7559,15,0.8,19,6.7,0.0,0.0,10,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$TGT_LATLONG,6156.580,-17421.840
$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,158.1,22917,-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,-487.5,2400,1951,2347,4092,0.0,0.0,0,29,6.45,0.00,-6.93,0.000,20486,0.024,0.000,1772,1952,3057,3057,4095,0,0,0,0,0,0,26.15,25.53,26.20,10.30,53.46
$GC,33,-1.78,-487.5,1772,1952,3057,4095,0.0,-0.6,2,42,0.00,1.10,0.00,0.000,516,0.000,0.055,1772,1521,3057,3057,4095,0,0,0,0,0,0,26.27,25.97,26.28,10.44,53.50
$GC,197,-1.78,-487.5,1771,1522,3062,4095,25.7,-13.9,26,206,0.00,1.00,0.00,0.000,1030,0.000,0.028,1772,1947,3062,3062,4095,0,0,0,0,0,0,26.21,26.17,26.22,10.40,52.75
$GC,244,-1.78,-487.5,1771,1946,3063,4095,31.9,-12.9,32,253,0.00,1.10,0.00,0.000,260,0.000,0.045,1772,2367,3064,3064,4095,0,0,0,0,0,0,26.44,26.13,26.45,10.38,52.16
$GC,325,-1.78,-487.5,1771,2367,3065,4095,41.2,-11.7,43,333,0.00,1.02,0.00,0.000,1030,0.000,0.031,1772,1954,3065,3065,4094,0,0,0,0,0,0,26.25,26.20,26.26,10.35,49.64
$GC,373,-1.78,-487.5,1771,1954,3066,4094,47.2,-12.9,49,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1954,3066,3066,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.34,49.01
$GC,419,-1.78,-487.5,1771,1954,3067,4094,53.2,-12.9,55,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1954,3068,3068,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.33,47.99
$GC,467,-1.78,-487.5,1772,1954,3068,4095,59.3,-13.3,61,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1954,3069,3069,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.32,47.79
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,491,-0.45,0.0,1772,2137,3069,4095,62.0,-13.7,63,526,4.45,0.00,28.42,1.340,10244,0.055,0.000,2186,2137,2484,2484,4095,0,0,0,0,0,0,26.23,25.31,24.22,10.32,47.91
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,531,1.78,487.5,2186,2137,2483,4095,65.1,0.0,67,574,7.55,0.00,28.02,1.306,11270,0.032,0.000,2891,2138,1917,1917,4095,0,0,0,0,0,0,25.58,25.72,23.80,10.19,47.16
$GC,613,1.78,487.5,2891,2137,1916,4095,58.5,12.5,77,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2138,1915,1915,4094,0,0,0,0,0,0,25.58,25.59,25.58,10.06,45.78
$GC,661,1.78,487.5,2891,2137,1914,4094,52.2,13.2,83,670,0.00,1.12,0.00,0.000,516,0.000,0.045,2892,1719,1914,1914,4094,0,0,0,0,0,0,25.75,25.47,25.77,10.06,45.62
$GC,766,1.78,487.5,2891,1719,1911,4094,37.9,13.3,98,775,0.00,1.00,0.00,0.000,1030,0.000,0.031,2892,2123,1911,1911,4094,0,0,0,0,0,0,25.77,25.77,25.80,10.04,46.81
$GC,813,1.78,487.5,2891,2122,1910,4094,31.8,13.3,104,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1910,1910,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.04,46.69
$GC,860,1.78,487.5,2891,2122,1908,4094,26.1,12.1,110,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1908,1908,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.04,47.40
$GC,907,1.78,487.5,2891,2122,1907,4094,20.7,11.2,116,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1907,1907,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.05,47.40
$GC,955,1.95,599.6,2891,2123,1906,4094,16.1,8.9,122,972,0.50,1.08,7.12,0.644,10756,0.033,0.044,2945,1714,1783,1783,4094,0,0,0,0,0,0,26.02,25.45,24.88,10.11,49.09
$GC,1058,1.96,606.0,2944,1714,1781,4094,5.6,10.4,136,1068,0.00,1.05,0.17,0.005,9222,0.000,0.029,2945,2144,1781,1781,4095,0,0,0,0,0,0,26.02,25.98,26.04,10.12,51.85
$STATE,1091,end climb,FINISH_DEPTH_REACHED
$STATE,1091,begin subsurface finish
$FINISH1,1.5,1.023849,122
$GC,1100,0.18,122.0,2945,2144,1780,4094,1.5,10.9,140,1119,5.62,0.00,-5.22,0.000,20486,0.023,0.000,2402,2145,2345,2345,4095,0,0,0,0,0,0,26.05,25.46,26.10,10.13,52.24
$FINISH2,0.1
$STATE,1120,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1120,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,140613
$TT8_MAMPS,0.025466,0.248668
$HUMID,52.95
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.80,34.211
$10V_AH,10.14,35.702
$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,24.575,9.400,63.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,398.235,0.000,117.491,588.065,75.572,0.000,344.718,0.000,345.966,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,55.080,1339.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.211,385.817,305.344,453.018,585.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,14353,142
$CAP_FILE_SIZE,25664,0
$CFSIZE,1024409600,959545344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,152304,6208.519,-17428.756,15,0.8,19,6.7,0.0,0.0,10,4.7