version: 66.13
glider: 401
mission: 22
dive: 1427
start: 8 21 117 4 27 34
data:
$ID,401
$MISSION,22
$DIVE,1427
$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,30
$R_STBD_OVSHOOT,24
$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
$GPS1,210817,040726,6144.0615,-17357.6348,2,1.2,47,7.0,0.3,73.8,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-1.4
$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,9,-1.78,-487.5,2397,1951,2349,4092,0.0,0.0,0,17,5.68,0.00,0.00,0.000,4097,0.024,0.000,1842,1951,2349,2349,4095,0,0,0,0,0,0,26.30,28.83,28.83,10.32,52.12
$GC,21,-1.78,-487.5,1842,1951,2349,4095,0.2,0.0,1,35,0.50,1.23,-6.47,0.000,20740,0.040,1.251,1789,2382,3058,3058,4095,0,0,0,0,0,0,26.03,24.50,26.07,10.32,52.04
$GC,155,-1.78,-487.5,1789,2381,3061,4095,17.4,-16.6,22,162,0.00,1.08,0.00,0.000,1030,0.000,0.031,1789,1951,3061,3061,4094,0,0,0,0,0,0,26.08,26.03,26.11,10.49,52.32
$GC,195,-1.78,-487.5,1789,1951,3062,4094,24.7,-17.0,28,202,0.00,1.08,0.00,0.000,516,0.000,0.051,1789,1523,3063,3063,4095,0,0,0,0,0,0,26.36,26.03,26.37,10.49,52.04
$GC,301,-1.78,-487.5,1789,1522,3065,4095,38.8,-12.1,45,308,0.00,1.00,0.00,0.000,1030,0.000,0.026,1789,1952,3065,3065,4094,0,0,0,0,0,0,26.22,26.19,26.24,10.39,50.43
$GC,341,-1.78,-487.5,1789,1951,3066,4094,43.7,-12.4,51,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1952,3067,3067,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.38,49.25
$GC,381,-1.78,-487.5,1789,1951,3067,4095,48.7,-12.8,57,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1952,3067,3067,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.37,48.42
$GC,420,-1.78,-487.5,1788,1951,3068,4095,53.7,-12.9,63,426,0.00,1.08,0.00,0.000,260,0.000,0.044,1789,2365,3068,3068,4095,0,0,0,0,0,0,26.50,26.17,26.51,10.36,48.70
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,478,-0.45,0.0,1789,2120,3069,4095,60.4,-13.0,71,514,4.25,0.00,28.30,1.310,10244,0.054,0.000,2185,2120,2484,2484,4094,0,0,0,0,0,0,26.18,25.31,24.27,10.35,47.36
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,519,1.78,487.5,2184,2119,2484,4094,63.5,0.0,77,560,7.55,0.00,27.88,1.278,11270,0.031,0.000,2892,2120,1915,1915,4094,0,0,0,0,0,0,25.58,25.72,23.87,10.22,47.20
$GC,594,1.78,487.5,2892,2119,1914,4094,57.3,12.2,89,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1914,1914,4094,0,0,0,0,0,0,25.54,25.56,25.56,10.10,46.14
$GC,633,1.78,487.5,2892,2119,1913,4094,52.1,13.2,95,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1913,1913,4094,0,0,0,0,0,0,25.72,25.73,25.73,10.09,46.06
$GC,673,1.78,487.5,2891,2119,1911,4094,46.8,13.6,101,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1911,1911,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.08,46.06
$GC,712,1.78,487.5,2892,2119,1911,4094,41.8,13.2,107,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2119,1910,1910,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.08,46.22
$GC,751,1.78,487.5,2891,2119,1909,4094,36.7,12.7,113,757,0.00,1.00,0.00,0.000,516,0.000,0.047,2893,1734,1909,1909,4095,0,0,0,0,0,0,26.01,25.70,26.03,10.07,46.92
$GC,926,1.95,600.8,2892,1733,1905,4095,18.2,8.9,141,940,0.47,0.93,7.15,0.650,11270,0.030,0.029,2945,2116,1783,1783,4094,0,0,0,0,0,0,26.01,25.98,24.79,10.15,50.63
$GC,974,1.95,600.8,2945,2115,1781,4094,13.0,11.0,148,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2116,1782,1782,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.14,52.04
$GC,1013,1.95,600.8,2945,2115,1781,4094,8.7,10.9,154,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2116,1781,1781,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.15,52.83
$GC,1052,1.95,600.8,2945,2115,1780,4094,4.4,10.9,160,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2116,1779,1779,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.15,53.22
$STATE,1069,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.8,1.023873,120
$GC,1079,0.18,120.4,2945,2115,1779,4094,1.8,12.5,163,1093,5.70,0.00,-4.88,0.000,20486,0.031,0.000,2396,2116,2348,2348,4095,0,0,0,0,0,0,26.08,24.73,26.12,10.17,53.38
$FINISH2,0.4
$STATE,1094,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1094,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,025031
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.25
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.87,40.392
$10V_AH,10.38,40.643
$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,24.150,8.400,63.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,425.616,268.223,136.919,239.567,84.587,0.000,310.301,0.000,248.326,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1250.775,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330768
$DATA_FILE_SIZE,10806,165
$CAP_FILE_SIZE,26598,0
$CFSIZE,1024409600,949370880
$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