version: 66.13
glider: 401
mission: 22
dive: 1229
start: 8 17 117 19 20 48
data:
$ID,401
$MISSION,22
$DIVE,1229
$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,20
$R_STBD_OVSHOOT,24
$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
$GPS1,170817,185946,6206.3721,-17428.8906,8,0.9,18,6.7,0.0,240.2,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.7
$GPS2,170817,185946,6206.3721,-17428.8906,8,0.9,18,6.7,0.0,240.2,10,4.9
$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,154.6,19147,-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,10,-1.78,-487.5,2399,1956,2345,4092,0.0,0.0,0,18,6.28,0.00,0.00,0.000,4097,0.020,0.000,1789,1957,2346,2346,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.29,53.03
$GC,22,-1.78,-487.5,1788,1956,2346,4094,0.3,0.0,1,34,0.00,0.00,-6.70,0.000,16390,0.000,0.000,1788,1956,3054,3054,4095,0,0,0,0,0,0,26.27,25.51,26.27,10.29,52.32
$GC,67,-1.78,-487.5,1788,1956,3055,4095,3.8,-12.7,8,73,0.00,1.12,0.00,0.000,516,0.000,0.051,1788,1513,3055,3055,4095,0,0,0,0,0,0,26.22,25.91,26.24,10.45,52.83
$GC,136,-1.78,-487.5,1788,1512,3057,4095,16.1,-17.9,19,143,0.00,1.05,0.00,0.000,1030,0.000,0.028,1788,1948,3058,3058,4094,0,0,0,0,0,0,26.08,26.05,26.10,10.45,52.79
$GC,176,-1.78,-487.5,1789,1948,3059,4094,22.1,-13.5,25,182,0.00,1.12,0.00,0.000,260,0.000,0.047,1788,2373,3059,3059,4094,0,0,0,0,0,0,26.32,26.01,26.34,10.42,52.36
$GC,239,-1.78,-487.5,1788,2373,3060,4094,30.0,-11.4,35,246,0.00,1.12,0.00,0.000,1030,0.000,0.031,1788,1929,3060,3060,4095,0,0,0,0,0,0,26.14,26.11,26.17,10.38,51.53
$GC,279,-1.78,-487.5,1788,1929,3061,4095,34.6,-11.9,41,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1929,3060,3060,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.37,49.68
$GC,318,-1.78,-487.5,1788,1929,3061,4094,39.2,-11.8,47,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1929,3062,3062,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.35,49.52
$GC,357,-1.78,-487.5,1788,1929,3062,4095,43.7,-11.8,53,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1929,3063,3063,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.34,48.74
$GC,396,-1.78,-487.5,1787,1929,3064,4095,48.4,-12.1,59,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1929,3064,3064,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.33,48.34
$GC,434,-1.78,-487.5,1788,1929,3065,4095,53.3,-12.4,65,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1929,3065,3065,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.32,47.83
$GC,473,-1.78,-487.5,1787,1929,3066,4094,58.2,-12.4,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1929,3065,3065,4095,0,0,0,0,0,0,26.49,26.50,26.51,10.32,47.55
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,499,-0.45,0.0,1788,2145,3066,4095,60.8,-12.8,74,535,4.30,0.00,28.23,1.310,10244,0.054,0.000,2186,2145,2484,2484,4095,0,0,0,0,0,0,26.19,25.29,24.23,10.32,47.67
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,540,1.78,487.5,2186,2145,2484,4095,63.4,0.0,80,581,7.53,0.00,28.00,1.283,11270,0.032,0.000,2891,2145,1914,1914,4094,0,0,0,0,0,0,25.56,25.72,23.82,10.19,47.16
$GC,615,1.78,487.5,2890,2145,1913,4094,57.0,12.5,92,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2145,1912,1912,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.06,46.69
$GC,654,1.78,487.5,2890,2145,1912,4094,51.8,13.1,98,660,0.00,1.17,0.00,0.000,516,0.000,0.045,2891,1709,1912,1912,4094,0,0,0,0,0,0,25.70,25.41,25.70,10.06,46.02
$GC,759,1.78,487.5,2890,1709,1909,4094,38.0,13.5,115,766,0.00,1.02,0.00,0.000,1030,0.000,0.029,2891,2123,1908,1908,4095,0,0,0,0,0,0,25.74,25.70,25.75,10.04,47.24
$GC,799,1.78,487.5,2890,2123,1907,4095,33.0,12.7,121,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1908,1908,4095,0,0,0,0,0,0,26.03,26.04,26.04,10.04,47.28
$GC,838,1.78,487.5,2890,2123,1907,4095,28.1,12.3,127,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1907,1907,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.04,47.36
$GC,877,1.78,487.5,2890,2123,1906,4094,23.6,11.4,133,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1905,1905,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.05,47.87
$GC,915,1.78,487.5,2890,2123,1905,4094,19.0,11.7,139,922,0.00,1.10,0.00,0.000,516,0.000,0.047,2891,1709,1904,1904,4094,0,0,0,0,0,0,26.18,25.87,26.19,10.06,48.18
$GC,961,1.94,596.5,2890,1709,1903,4094,14.6,8.9,146,975,0.45,1.00,6.88,0.632,11270,0.034,0.029,2944,2120,1787,1787,4094,0,0,0,0,0,0,26.01,25.97,24.87,10.11,50.66
$GC,1008,1.94,596.5,2943,2120,1786,4094,9.9,10.6,153,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2121,1786,1786,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,51.37
$GC,1047,1.94,596.5,2943,2120,1785,4094,5.8,11.0,159,1054,0.00,1.08,0.00,0.000,516,0.000,0.049,2944,1716,1785,1785,4094,0,0,0,0,0,0,26.22,25.90,26.23,10.12,51.73
$STATE,1083,end climb,FINISH_DEPTH_REACHED
$STATE,1083,begin subsurface finish
$FINISH1,1.5,1.023806,125
$GC,1094,0.19,125.1,2943,2135,1784,4094,1.5,10.6,165,1113,5.62,1.17,-5.10,0.000,20996,0.028,1.273,2404,1708,2343,2343,4094,0,0,0,0,0,0,26.03,24.57,26.08,10.13,53.07
$FINISH2,0.1
$STATE,1114,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1115,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,174301
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.30
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.82,34.473
$10V_AH,10.37,35.905
$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,24.175,13.100,63.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.738,253.419,159.229,244.553,83.056,0.000,347.311,0.000,252.616,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1272.960,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330812
$DATA_FILE_SIZE,10812,168
$CAP_FILE_SIZE,30536,0
$CFSIZE,1024409600,959102976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,185946,6206.372,-17428.891,8,0.9,18,6.7,0.0,240.2,10,4.9