version: 66.13
glider: 401
mission: 22
dive: 1424
start: 8 21 117 3 15 42
data:
$ID,401
$MISSION,22
$DIVE,1424
$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,33
$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
$GPS1,210817,025510,6144.1118,-17358.3906,7,0.8,17,7.0,0.0,29.5,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.0
$GPS2,210817,025510,6144.1118,-17358.3906,7,0.8,17,7.0,0.0,29.5,10,4.8
$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,153.7,38168,-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,-487.5,2397,1938,2353,4092,0.0,0.0,0,21,6.43,0.00,-2.75,0.000,20482,0.024,0.000,1775,1938,2653,2653,4095,0,0,0,0,0,0,26.11,28.83,26.17,10.32,54.01
$GC,26,-1.78,-487.5,1775,1938,2653,4095,0.1,0.0,1,35,0.00,1.25,-3.72,0.000,16644,0.000,1.258,1775,2382,3057,3057,4095,0,0,0,0,0,0,26.37,24.56,26.38,10.38,53.74
$GC,164,-1.78,-487.5,1774,2382,3060,4095,15.4,-17.8,21,174,0.00,1.08,0.00,0.000,1030,0.000,0.031,1774,1950,3060,3060,4094,0,0,0,0,0,0,26.15,26.10,26.16,10.48,53.34
$GC,212,-1.78,-487.5,1773,1950,3061,4094,23.7,-17.7,27,220,0.00,1.05,0.00,0.000,516,0.000,0.047,1774,1526,3062,3062,4095,0,0,0,0,0,0,26.43,26.13,26.44,10.48,52.59
$GC,292,-1.78,-487.5,1774,1525,3064,4095,35.4,-13.5,38,302,0.00,1.00,0.00,0.000,1030,0.000,0.027,1774,1953,3064,3064,4094,0,0,0,0,0,0,26.25,26.23,26.27,10.40,51.02
$GC,341,-1.78,-487.5,1774,1953,3065,4094,42.0,-13.3,44,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1953,3065,3065,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.38,50.47
$GC,389,-1.78,-487.5,1774,1953,3066,4094,48.4,-13.0,50,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1953,3066,3066,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,48.89
$GC,437,-1.78,-487.5,1774,1953,3067,4095,55.0,-13.8,56,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1953,3068,3068,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.36,47.87
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,482,-0.45,0.0,1774,2146,3068,4094,60.5,-13.0,61,518,4.43,0.00,28.30,1.308,10244,0.056,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.21,25.34,24.30,10.35,48.14
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,523,1.78,487.5,2184,2146,2484,4094,63.7,0.0,65,567,7.55,0.00,28.02,1.280,11270,0.031,0.000,2891,2147,1916,1916,4094,0,0,0,0,0,0,25.60,25.76,23.91,10.22,46.69
$GC,607,1.78,487.5,2891,2146,1915,4094,57.3,12.0,75,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2146,1914,1914,4094,0,0,0,0,0,0,25.60,25.61,25.61,10.08,45.58
$GC,654,1.78,487.5,2891,2146,1914,4094,51.1,13.0,81,664,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1717,1913,1913,4094,0,0,0,0,0,0,25.79,25.48,25.79,10.09,45.58
$GC,760,1.78,487.5,2891,1717,1910,4094,37.5,12.6,96,770,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2123,1910,1910,4094,0,0,0,0,0,0,25.79,25.75,25.82,10.07,46.29
$GC,808,1.78,487.5,2891,2123,1908,4094,31.4,13.0,102,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1908,1908,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.07,46.53
$GC,855,1.78,487.5,2891,2123,1907,4094,25.4,12.5,108,864,0.00,1.08,0.00,0.000,516,0.000,0.046,2892,1717,1907,1907,4094,0,0,0,0,0,0,26.17,25.83,26.18,10.07,47.24
$GC,904,2.01,639.3,2891,1717,1906,4094,21.0,8.3,114,923,0.70,0.98,9.12,0.728,11270,0.028,0.029,2970,2119,1739,1739,4094,0,0,0,0,0,0,25.99,25.95,24.73,10.12,48.22
$GC,962,2.01,639.3,2970,2119,1738,4094,14.8,11.4,121,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2119,1737,1737,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.12,50.43
$GC,1009,2.01,639.3,2970,2118,1736,4095,9.0,12.3,127,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2119,1736,1736,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,51.92
$GC,1056,2.01,639.3,2970,2118,1734,4094,3.1,12.3,133,1065,0.00,1.05,0.00,0.000,516,0.000,0.042,2971,1718,1734,1734,4094,0,0,0,0,0,0,26.26,25.93,26.27,10.15,52.08
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,0.3,1.023896,119
$GC,1084,0.18,118.8,2970,2135,1734,4094,0.3,12.3,135,1103,5.90,1.15,-5.38,0.000,20996,0.022,1.259,2398,1720,2347,2347,4094,0,0,0,0,0,0,26.04,24.48,26.10,10.16,52.28
$FINISH2,0.3
$STATE,1104,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,024638
$TT8_MAMPS,0.026215,0.240429
$HUMID,53.07
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.91,40.302
$10V_AH,10.16,40.583
$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,25.000,12.800,65.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,391.151,0.000,118.916,569.929,84.997,0.000,346.676,0.000,334.314,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1259.190,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.506,372.242,294.614,436.699,567.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,14442,137
$CAP_FILE_SIZE,26296,0
$CFSIZE,1024409600,949518336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,025510,6144.112,-17358.391,7,0.8,17,7.0,0.0,29.5,10,4.8