version: 66.13
glider: 401
mission: 22
dive: 1426
start: 8 21 117 4 8 2
data:
$ID,401
$MISSION,22
$DIVE,1426
$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,39
$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
$GPS1,210817,035705,6143.9976,-17357.7715,5,1.5,39,7.0,0.0,355.3,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-41.1
$GPS2,210817,040726,6144.0615,-17357.6348,2,1.2,47,7.0,0.3,73.8,8,3.0
$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,154.6,37864,-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,-487.5,237,1957,1813,4092,0.0,0.0,0,21,9.05,0.00,0.00,0.000,2049,0.095,0.000,1002,1957,1813,1813,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.24,51.49
$GC,25,-1.78,-487.5,1001,1958,1813,4094,0.8,0.0,1,53,8.12,1.17,-11.40,0.000,18692,0.039,1.250,1765,2371,3055,3055,4094,0,0,0,0,0,0,25.94,24.36,26.00,10.26,51.29
$GC,180,-1.78,-487.5,1764,2370,3059,4094,19.3,-17.7,22,188,0.00,1.02,0.00,0.000,1030,0.000,0.028,1765,1965,3060,3060,4094,0,0,0,0,0,0,26.03,25.99,26.04,10.52,50.78
$GC,228,-1.78,-487.5,1764,1964,3060,4094,28.5,-18.2,28,237,0.00,1.12,0.00,0.000,516,0.000,0.049,1765,1521,3061,3061,4094,0,0,0,0,0,0,26.31,25.97,26.32,10.48,50.11
$GC,334,-1.78,-487.5,1764,1521,3063,4094,42.5,-12.9,43,343,0.00,1.00,0.00,0.000,1030,0.000,0.026,1765,1949,3063,3063,4095,0,0,0,0,0,0,26.16,26.14,26.18,10.41,47.36
$GC,381,-1.78,-487.5,1764,1949,3064,4095,48.8,-13.5,49,390,0.00,1.08,0.00,0.000,260,0.000,0.044,1765,2367,3064,3064,4094,0,0,0,0,0,0,26.42,26.08,26.44,10.39,46.65
$GC,454,-1.78,-487.5,1764,2367,3066,4094,58.8,-13.6,59,463,0.00,1.02,0.00,0.000,1030,0.000,0.029,1765,1957,3066,3066,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.38,46.10
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,480,-0.45,0.0,1765,2141,3067,4094,61.6,-13.2,61,516,4.53,0.00,28.40,1.324,10244,0.057,0.000,2184,2141,2484,2484,4094,0,0,0,0,0,0,26.13,25.25,24.20,10.38,45.98
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,521,1.78,487.5,2184,2141,2484,4094,65.0,0.0,65,565,7.53,1.10,28.12,1.297,10500,0.031,0.047,2892,2556,1917,1917,4094,0,0,0,0,0,0,25.46,25.40,23.80,10.25,44.95
$GC,577,1.93,588.7,2891,2556,1916,4094,62.0,9.0,71,596,0.45,1.08,7.40,0.988,11270,0.028,0.027,2942,2136,1798,1798,4094,0,0,0,0,0,0,25.20,25.17,23.93,10.12,44.40
$GC,635,1.93,588.7,2941,2135,1797,4094,54.0,13.9,78,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2135,1796,1796,4094,0,0,0,0,0,0,25.60,25.62,25.61,10.09,43.93
$GC,683,1.93,588.7,2941,2135,1795,4094,46.6,15.7,84,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2135,1794,1794,4095,0,0,0,0,0,0,25.77,25.79,25.79,10.08,44.13
$GC,731,1.93,588.7,2941,2134,1793,4095,39.5,14.6,90,740,0.00,1.10,0.00,0.000,516,0.000,0.047,2942,1713,1793,1793,4094,0,0,0,0,0,0,25.90,25.58,25.91,10.07,44.64
$GC,870,2.01,640.0,2941,1713,1788,4094,21.4,9.8,110,881,0.17,1.02,4.10,0.485,11270,0.037,0.028,2971,2133,1736,1736,4094,0,0,0,0,0,0,25.90,25.88,24.66,10.12,46.85
$GC,921,2.01,640.0,2970,2132,1735,4094,15.6,12.3,116,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2133,1735,1735,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.14,50.15
$GC,969,2.01,640.0,2970,2132,1733,4094,9.8,12.2,122,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2133,1734,1734,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.16,51.02
$GC,1016,2.01,640.0,2970,2133,1732,4094,4.1,11.4,128,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2133,1732,1732,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.17,51.49
$STATE,1032,end climb,FINISH_DEPTH_REACHED
$STATE,1032,begin subsurface finish
$FINISH1,1.5,1.023877,120
$GC,1042,0.18,120.1,2970,2135,1731,4094,1.5,11.9,130,1061,5.95,0.00,-5.38,0.000,20486,0.031,0.000,2398,2135,2349,2349,4094,0,0,0,0,0,0,26.06,25.42,26.10,10.17,51.57
$FINISH2,0.3
$STATE,1062,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1062,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,025031
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.59
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.80,40.370
$10V_AH,10.13,40.632
$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,35.800,11.175,68.025,0.000,0.000,23.449,17.998,339.287,0.000,0.000,51.946,382.443,0.000,118.956,890.021,304.564,0.000,346.965,0.000,324.184,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,1250.010,1324.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.971,358.699,283.867,420.587,546.615,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,14342,132
$CAP_FILE_SIZE,30213,0
$CFSIZE,1024409600,949420032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,040726,6144.062,-17357.635,2,1.2,47,7.0,0.3,73.8,8,3.0