version: 66.13
glider: 401
mission: 22
dive: 1421
start: 8 21 117 2 1 27
data:
$ID,401
$MISSION,22
$DIVE,1421
$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,44
$R_STBD_OVSHOOT,51
$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
$GPS1,210817,013618,6143.9258,-17358.6719,6,0.7,14,7.0,0.6,340.7,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-3.4
$GPS2,210817,013618,6143.9258,-17358.6719,6,0.7,14,7.0,0.6,340.7,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,153.2,37927,-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,-487.5,2398,1966,2352,4092,0.0,0.0,0,18,6.45,0.00,-0.10,0.000,20482,0.024,0.000,1774,1966,2362,2362,4095,0,0,0,0,0,0,26.11,28.83,26.17,10.32,53.46
$GC,23,-1.78,-487.5,1773,1966,2362,4095,0.1,0.0,1,36,0.00,1.05,-6.30,0.000,16644,0.000,1.262,1773,2351,3054,3054,4095,0,0,0,0,0,0,26.35,24.53,26.36,10.33,53.38
$GC,147,-1.78,-487.5,1773,2351,3057,4095,15.5,-16.7,21,154,0.00,0.98,0.00,0.000,1030,0.000,0.031,1773,1964,3057,3057,4095,0,0,0,0,0,0,26.11,26.07,26.13,10.48,53.22
$GC,187,-1.78,-487.5,1773,1965,3058,4095,21.9,-15.7,27,194,0.00,1.12,0.00,0.000,516,0.000,0.051,1773,1523,3059,3059,4094,0,0,0,0,0,0,26.39,26.06,26.40,10.49,53.42
$GC,215,-1.78,-487.5,1773,1522,3059,4094,26.4,-16.4,31,222,0.00,0.98,0.00,0.000,1030,0.000,0.027,1773,1940,3059,3059,4094,0,0,0,0,0,0,26.19,26.15,26.21,10.47,52.75
$GC,255,-1.78,-487.5,1773,1940,3060,4094,31.4,-12.0,37,262,0.00,1.10,0.00,0.000,260,0.000,0.044,1773,2361,3061,3061,4095,0,0,0,0,0,0,26.43,26.10,26.44,10.43,52.48
$GC,325,-1.78,-487.5,1773,2361,3062,4095,39.9,-11.9,48,332,0.00,1.02,0.00,0.000,1030,0.000,0.031,1773,1950,3062,3062,4095,0,0,0,0,0,0,26.21,26.16,26.24,10.38,50.35
$GC,365,-1.78,-487.5,1773,1950,3062,4095,44.8,-12.2,54,372,0.00,1.08,0.00,0.000,516,0.000,0.052,1773,1521,3063,3063,4095,0,0,0,0,0,0,26.49,26.14,26.50,10.38,50.15
$GC,429,-1.78,-487.5,1773,1521,3064,4095,52.9,-12.2,64,436,0.00,1.00,0.00,0.000,1030,0.000,0.025,1773,1956,3064,3064,4095,0,0,0,0,0,0,26.30,26.27,26.32,10.36,48.03
$GC,469,-1.78,-487.5,1772,1955,3065,4095,57.6,-11.5,70,476,0.00,1.05,0.00,0.000,260,0.000,0.044,1773,2362,3065,3065,4095,0,0,0,0,0,0,26.53,26.21,26.54,10.35,48.07
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,497,-0.45,0.0,1773,2123,3066,4095,60.4,-12.6,73,533,4.43,0.00,28.05,1.298,10244,0.055,0.000,2185,2122,2484,2484,4095,0,0,0,0,0,0,26.21,25.33,24.27,10.35,48.07
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,538,1.78,487.5,2184,2122,2484,4095,62.9,0.0,79,579,7.50,0.00,27.83,1.271,11270,0.031,0.000,2890,2122,1915,1915,4094,0,0,0,0,0,0,25.61,25.75,23.87,10.22,48.22
$GC,613,1.78,487.5,2889,2122,1914,4094,57.4,11.9,91,620,0.00,1.05,0.00,0.000,516,0.000,0.049,2890,1729,1914,1914,4094,0,0,0,0,0,0,25.56,25.27,25.57,10.09,46.41
$GC,782,1.78,487.5,2890,1728,1909,4094,36.9,11.9,118,789,0.00,0.95,0.00,0.000,1030,0.000,0.028,2890,2118,1910,1910,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.07,47.28
$GC,823,1.78,487.5,2890,2117,1909,4094,31.9,11.4,124,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2118,1908,1908,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.07,48.22
$GC,862,1.78,487.5,2890,2117,1908,4094,27.5,11.7,130,868,0.00,1.02,0.00,0.000,516,0.000,0.046,2890,1731,1907,1907,4095,0,0,0,0,0,0,26.16,25.84,26.17,10.07,48.58
$GC,908,1.92,583.4,2890,1731,1907,4095,22.8,9.1,137,921,0.43,0.93,6.45,0.666,11270,0.032,0.028,2938,2115,1803,1803,4094,0,0,0,0,0,0,25.98,25.96,24.71,10.10,48.58
$GC,955,2.04,662.8,2938,2115,1801,4094,18.4,9.4,144,968,0.30,0.00,5.78,0.596,10246,0.038,0.000,2977,2114,1711,1711,4094,0,0,0,0,0,0,25.97,25.32,24.75,10.12,50.70
$GC,1002,2.04,662.8,2977,2115,1710,4094,13.3,11.5,151,1008,0.00,1.02,0.00,0.000,516,0.000,0.047,2978,1729,1710,1710,4094,0,0,0,0,0,0,26.16,25.83,26.17,10.13,51.69
$GC,1090,2.04,662.8,2977,1729,1708,4094,3.4,10.9,165,1096,0.00,0.90,0.00,0.000,1030,0.000,0.027,2978,2110,1708,1708,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.15,53.03
$STATE,1101,end climb,FINISH_DEPTH_REACHED
$STATE,1101,begin subsurface finish
$FINISH1,1.6,1.023924,117
$GC,1111,0.18,116.9,2978,2110,1707,4094,1.6,10.8,167,1125,5.97,0.00,-5.28,0.000,20486,0.023,0.000,2397,2110,2354,2354,4095,0,0,0,0,0,0,26.06,24.75,26.08,10.15,53.54
$FINISH2,0.5
$STATE,1126,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1126,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,012859
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.05
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.87,40.209
$10V_AH,10.39,40.502
$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,25.075,16.350,68.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.661,270.708,145.158,244.927,85.039,0.000,325.085,0.000,254.109,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1262.250,1298.205,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330832
$DATA_FILE_SIZE,14299,169
$CAP_FILE_SIZE,29785,0
$CFSIZE,1024409600,949665792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,013618,6143.926,-17358.672,6,0.7,14,7.0,0.6,340.7,11,4.9