version: 66.13
glider: 401
mission: 22
dive: 1237
start: 8 17 117 22 32 49
data:
$ID,401
$MISSION,22
$DIVE,1237
$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,63
$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
$GPS1,170817,222238,6205.2861,-17430.2207,4,0.9,22,6.7,0.8,294.2,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-40.3
$GPS2,170817,223213,6205.3433,-17430.3359,5,1.0,51,6.7,0.3,317.0,8,3.0
$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,148.8,17837,-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,-487.5,230,1956,1759,4092,0.0,0.0,0,18,6.07,0.00,0.00,0.000,2049,0.098,0.000,741,1955,1759,1759,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.22,50.82
$GC,22,-1.78,-487.5,740,1955,1759,4094,0.7,0.0,1,52,11.18,1.15,-12.25,0.000,18948,0.054,1.275,1763,1516,3053,3053,4094,0,0,0,0,0,0,25.91,24.48,25.98,10.22,51.06
$GC,248,-1.78,-487.5,1762,1516,3059,4094,30.9,-14.1,38,255,0.00,0.95,0.00,0.000,1030,0.000,0.025,1763,1926,3059,3059,4095,0,0,0,0,0,0,26.11,26.08,26.14,10.43,49.21
$GC,288,-1.78,-487.5,1762,1926,3060,4095,36.2,-13.6,44,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1926,3060,3060,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.41,49.05
$GC,327,-1.78,-487.5,1762,1926,3061,4095,41.3,-13.2,50,334,0.00,1.15,0.00,0.000,260,0.000,0.044,1763,2367,3061,3061,4095,0,0,0,0,0,0,26.37,26.07,26.39,10.39,47.63
$GC,397,-1.78,-487.5,1762,2366,3063,4095,49.9,-12.3,61,403,0.00,1.05,0.00,0.000,1030,0.000,0.030,1763,1944,3062,3062,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.37,46.33
$GC,436,-1.78,-487.5,1762,1944,3064,4095,55.0,-12.8,67,443,0.00,1.05,0.00,0.000,516,0.000,0.051,1763,1527,3064,3064,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.36,45.90
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,483,-0.45,0.0,1763,2125,3064,4094,60.3,-13.6,73,519,4.57,0.00,28.17,1.303,10244,0.054,0.000,2187,2125,2484,2484,4094,0,0,0,0,0,0,26.15,25.26,24.18,10.35,45.39
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,523,1.78,487.5,2186,2124,2484,4094,63.3,0.0,79,565,7.50,0.00,27.95,1.274,11270,0.031,0.000,2890,2125,1916,1916,4094,0,0,0,0,0,0,25.53,25.69,23.80,10.23,45.07
$GC,598,1.78,487.5,2890,2125,1915,4094,56.9,13.1,91,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2125,1915,1915,4095,0,0,0,0,0,0,25.52,25.53,25.53,10.10,44.29
$GC,637,1.78,487.5,2890,2124,1914,4095,51.5,13.8,97,643,0.00,1.08,0.00,0.000,516,0.000,0.044,2891,1719,1914,1914,4094,0,0,0,0,0,0,25.69,25.41,25.70,10.09,44.52
$GC,754,1.78,487.5,2890,1719,1911,4094,35.8,13.0,116,761,0.00,1.02,0.00,0.000,1030,0.000,0.030,2891,2133,1911,1911,4094,0,0,0,0,0,0,25.76,25.73,25.79,10.08,45.43
$GC,794,1.78,487.5,2890,2133,1909,4094,30.8,12.9,122,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1909,1909,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.07,45.90
$GC,833,1.78,487.5,2890,2133,1908,4094,26.1,12.2,128,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1908,1908,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.08,46.69
$GC,872,1.78,487.5,2890,2132,1907,4094,21.6,11.6,134,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1907,1907,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.08,46.73
$GC,911,1.94,595.1,2890,2133,1906,4094,17.8,8.9,140,925,0.47,1.10,6.95,0.654,10756,0.034,0.045,2942,1716,1788,1788,4094,0,0,0,0,0,0,25.98,25.70,24.82,10.12,47.79
$GC,1006,1.94,595.1,2942,1716,1786,4094,8.2,10.6,155,1013,0.00,1.00,0.00,0.000,1030,0.000,0.030,2943,2124,1786,1786,4095,0,0,0,0,0,0,25.98,25.95,26.01,10.14,51.41
$GC,1046,1.94,595.1,2942,2124,1784,4095,3.9,11.0,161,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2124,1785,1785,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.15,52.24
$STATE,1063,end climb,FINISH_DEPTH_REACHED
$STATE,1063,begin subsurface finish
$FINISH1,1.6,1.023781,127
$GC,1072,0.19,126.8,2943,2124,1784,4094,1.6,11.0,164,1086,5.72,0.00,-4.88,0.000,20998,0.040,0.000,2402,2124,2343,2343,4094,0,0,0,0,0,0,26.05,24.86,26.09,10.16,51.85
$FINISH2,0.3
$STATE,1087,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1087,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,211548
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.44
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.80,34.708
$10V_AH,10.27,36.092
$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,35.525,11.175,63.075,0.000,0.000,26.080,23.776,292.915,0.000,0.000,52.509,432.844,266.508,147.390,607.527,222.052,0.000,327.596,0.000,251.376,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1275.255,1302.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.379,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10853,166
$CAP_FILE_SIZE,31452,0
$CFSIZE,1024409600,958709760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170817,223213,6205.343,-17430.336,5,1.0,51,6.7,0.3,317.0,8,3.0