version: 66.13
glider: 401
mission: 22
dive: 1232
start: 8 17 117 20 31 55
data:
$ID,401
$MISSION,22
$DIVE,1232
$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
$GPS1,170817,201024,6205.7739,-17429.5312,5,0.8,21,6.7,0.4,314.7,10,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.3
$GPS2,170817,201024,6205.7739,-17429.5312,5,0.8,21,6.7,0.4,314.7,10,4.7
$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,151.8,18298,-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,6,begin dive
$GC,10,-1.78,-487.5,2405,1956,2343,4092,0.0,0.0,0,21,6.53,0.00,-2.35,0.000,20482,0.022,0.000,1770,1956,2596,2596,4094,0,0,0,0,0,0,26.13,28.83,26.17,10.29,53.18
$GC,25,-1.78,-487.5,1769,1956,2596,4094,0.1,0.0,1,35,0.00,0.00,-4.05,0.000,16390,0.000,0.000,1769,1956,3054,3054,4095,0,0,0,0,0,0,26.34,25.56,26.35,10.35,53.66
$GC,72,-1.78,-487.5,1768,1956,3055,4095,5.2,-14.4,7,81,0.00,1.12,0.00,0.000,516,0.000,0.051,1769,1518,3055,3055,4095,0,0,0,0,0,0,26.29,25.97,26.30,10.44,54.05
$GC,203,-1.78,-487.5,1769,1517,3059,4095,26.7,-13.4,26,213,0.00,1.05,0.00,0.000,1030,0.000,0.028,1769,1960,3060,3060,4094,0,0,0,0,0,0,26.17,26.14,26.20,10.39,52.63
$GC,251,-1.78,-487.5,1768,1959,3060,4094,32.9,-12.9,32,260,0.00,1.08,0.00,0.000,260,0.000,0.047,1769,2370,3061,3061,4094,0,0,0,0,0,0,26.42,26.10,26.43,10.38,51.45
$GC,317,-1.78,-487.5,1768,2370,3062,4094,41.2,-11.9,41,326,0.00,1.02,0.00,0.000,1030,0.000,0.031,1769,1960,3062,3062,4094,0,0,0,0,0,0,26.21,26.17,26.23,10.35,50.03
$GC,363,-1.78,-487.5,1768,1959,3063,4094,47.0,-12.9,47,373,0.00,1.12,0.00,0.000,516,0.000,0.052,1769,1518,3064,3064,4095,0,0,0,0,0,0,26.48,26.17,26.48,10.33,49.33
$STATE,465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,475,-0.45,0.0,1769,2132,3066,4095,60.6,-13.0,62,511,4.50,0.00,28.33,1.315,10244,0.056,0.000,2186,2132,2483,2483,4094,0,0,0,0,0,0,26.22,25.31,24.24,10.32,47.75
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,516,1.78,487.5,2186,2131,2484,4094,63.6,0.0,66,560,7.57,0.00,27.98,1.286,11270,0.032,0.000,2893,2131,1919,1919,4094,0,0,0,0,0,0,25.57,25.73,23.85,10.19,46.92
$GC,599,1.78,487.5,2892,2131,1918,4094,56.8,13.0,76,609,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1712,1917,1917,4094,0,0,0,0,0,0,25.58,25.30,25.59,10.06,46.45
$GC,724,1.78,487.5,2893,1712,1914,4094,39.8,13.1,94,734,0.00,1.05,0.00,0.000,1030,0.000,0.031,2893,2133,1914,1914,4094,0,0,0,0,0,0,25.72,25.68,25.75,10.05,46.53
$GC,773,1.78,487.5,2892,2132,1912,4094,33.5,13.6,100,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1912,1912,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.04,47.12
$GC,821,1.78,487.5,2893,2133,1911,4094,27.5,12.3,106,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1911,1911,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.04,47.08
$GC,868,1.78,487.5,2893,2133,1910,4094,21.9,11.6,112,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1910,1910,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.05,47.44
$GC,916,1.91,578.7,2893,2133,1907,4094,17.2,9.2,118,927,0.38,0.00,6.25,0.618,10246,0.037,0.000,2936,2133,1809,1809,4094,0,0,0,0,0,0,25.98,25.66,24.85,10.10,48.97
$GC,966,1.99,629.5,2936,2133,1807,4094,12.5,9.8,124,976,0.15,1.12,4.32,0.464,10756,0.058,0.047,2961,1709,1749,1749,4094,0,0,0,0,0,0,25.97,25.73,24.89,10.10,50.43
$GC,1048,2.03,653.6,2960,1708,1747,4094,3.8,10.2,135,1058,0.00,1.02,3.08,0.277,9222,0.000,0.031,2961,2125,1719,1719,4094,0,0,0,0,0,0,25.99,25.95,25.02,10.12,52.40
$STATE,1066,end climb,FINISH_DEPTH_REACHED
$STATE,1066,begin subsurface finish
$FINISH1,1.3,1.023805,125
$GC,1075,0.19,125.1,2961,2124,1718,4095,1.3,10.8,137,1094,5.80,0.00,-5.65,0.000,20486,0.024,0.000,2402,2132,2344,2344,4094,0,0,0,0,0,0,26.00,25.41,26.05,10.12,52.59
$FINISH2,0.2
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,185454
$TT8_MAMPS,0.026215,0.250915
$HUMID,53.15
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.85,34.559
$10V_AH,10.13,35.984
$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,24.925,11.750,69.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,394.376,0.000,107.985,581.139,70.173,0.000,326.066,0.000,339.757,0.000,0.540,0.000
$DEVICE_MAMPS,58.140,52.020,1315.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.527,377.641,298.834,443.225,579.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330828
$DATA_FILE_SIZE,14260,139
$CAP_FILE_SIZE,25306,0
$CFSIZE,1024409600,958955520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,201024,6205.774,-17429.531,5,0.8,21,6.7,0.4,314.7,10,4.7