version: 66.13
glider: 401
mission: 22
dive: 1430
start: 8 21 117 5 36 49
data:
$ID,401
$MISSION,22
$DIVE,1430
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,210817,051640,6143.8247,-17356.5547,7,0.8,16,7.0,0.5,68.4,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.3
$GPS2,210817,051640,6143.8247,-17356.5547,7,0.8,16,7.0,0.5,68.4,11,5.0
$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,155.8,37153,-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,-487.5,2400,1966,2348,4092,0.0,0.0,0,21,6.50,0.00,-2.20,0.000,20482,0.027,0.000,1774,1962,2588,2588,4095,0,0,0,0,0,0,26.03,28.83,26.08,10.32,53.26
$GC,26,-1.78,-487.5,1773,1962,2588,4095,0.3,0.0,1,36,0.00,1.17,-4.28,0.000,16644,0.000,1.261,1773,2372,3056,3056,4094,0,0,0,0,0,0,26.28,24.49,26.29,10.38,53.15
$GC,173,-1.78,-487.5,1773,2372,3060,4094,21.2,-17.2,22,182,0.00,1.02,0.00,0.000,1030,0.000,0.031,1774,1962,3060,3060,4095,0,0,0,0,0,0,26.08,26.04,26.11,10.48,52.99
$GC,221,-1.78,-487.5,1773,1962,3061,4095,29.0,-15.1,28,230,0.00,1.10,0.00,0.000,516,0.000,0.051,1773,1524,3062,3062,4094,0,0,0,0,0,0,26.37,26.03,26.39,10.42,52.44
$GC,327,-1.78,-487.5,1773,1524,3064,4094,42.6,-13.0,43,337,0.00,1.02,0.00,0.000,1030,0.000,0.027,1773,1963,3064,3064,4095,0,0,0,0,0,0,26.22,26.26,26.22,10.37,49.60
$GC,375,-1.78,-487.5,1773,1962,3066,4095,48.7,-12.5,49,383,0.00,1.05,0.00,0.000,260,0.000,0.046,1773,2363,3066,3066,4094,0,0,0,0,0,0,26.47,26.13,26.48,10.37,49.05
$STATE,456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,456,begin apogee
$GC,466,-0.45,0.0,1773,2114,3068,4095,60.1,-13.3,61,502,4.45,0.00,28.33,1.308,10244,0.057,0.000,2186,2114,2484,2484,4095,0,0,0,0,0,0,26.17,25.29,24.26,10.34,48.38
$STATE,503,end apogee,CONTROL_FINISHED_OK
$STATE,503,begin climb
$GC,507,1.78,487.5,2186,2114,2484,4095,63.6,0.0,65,552,7.55,0.00,28.05,1.282,11270,0.031,0.000,2892,2114,1914,1914,4094,0,0,0,0,0,0,25.56,25.72,23.86,10.22,47.48
$GC,591,1.78,487.5,2891,2114,1914,4094,57.3,12.0,75,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2114,1914,1914,4095,0,0,0,0,0,0,25.58,25.60,25.60,10.09,46.25
$GC,639,1.78,487.5,2891,2114,1912,4095,51.0,13.4,81,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1912,1912,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.08,46.41
$GC,687,1.78,487.5,2891,2114,1911,4094,44.8,12.9,87,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1911,1911,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.08,46.02
$GC,735,1.78,487.5,2891,2114,1910,4094,38.6,13.0,93,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1909,1909,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.07,46.53
$GC,783,1.78,487.5,2891,2113,1908,4094,32.3,12.3,99,793,0.00,0.98,0.00,0.000,516,0.000,0.047,2892,1737,1908,1908,4094,0,0,0,0,0,0,26.08,25.76,26.09,10.06,46.92
$GC,922,1.92,579.2,2891,1737,1905,4094,17.6,9.2,119,933,0.40,0.95,6.07,0.605,11270,0.031,0.029,2937,2128,1808,1808,4094,0,0,0,0,0,0,26.03,25.98,24.79,10.14,50.07
$GC,973,1.92,579.2,2936,2127,1807,4094,12.5,10.9,125,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2128,1807,1807,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.14,51.65
$GC,1020,1.92,579.2,2936,2128,1806,4094,7.4,10.6,131,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2128,1806,1806,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.15,52.36
$GC,1068,1.92,579.2,2936,2127,1804,4094,2.1,11.7,137,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2128,1804,1804,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.17,52.91
$STATE,1084,end climb,FINISH_DEPTH_REACHED
$STATE,1084,begin subsurface finish
$FINISH1,0.1,1.023868,121
$GC,1094,0.18,120.8,2937,2127,1804,4094,0.1,10.1,139,1114,5.40,1.08,-4.78,0.000,20996,0.023,1.262,2414,1741,2343,2343,4095,0,0,0,0,0,0,26.10,24.50,26.15,10.17,53.11
$FINISH2,0.3
$STATE,1115,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1115,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,040012
$TT8_MAMPS,0.025466,0.257656
$HUMID,52.99
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.86,40.479
$10V_AH,10.15,40.721
$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,24.300,9.525,62.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,399.883,0.000,106.564,589.163,79.126,0.000,325.796,0.000,343.669,0.000,0.542,0.000
$DEVICE_MAMPS,56.610,1262.250,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.691,383.141,303.263,449.544,586.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,14451,141
$CAP_FILE_SIZE,24328,0
$CFSIZE,1024409600,949223424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,051640,6143.825,-17356.555,7,0.8,16,7.0,0.5,68.4,11,5.0