version: 66.13
glider: 401
mission: 22
dive: 1438
start: 8 21 117 8 49 47
data:
$ID,401
$MISSION,22
$DIVE,1438
$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,27
$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
$GPS1,210817,084049,6141.9370,-17353.5879,5,0.8,35,7.0,0.5,120.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-37.1
$GPS2,210817,084911,6141.8921,-17353.5195,7,0.8,15,7.0,0.6,57.4,10,5.0
$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,158.4,32974,-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,-487.5,230,1926,1784,4092,0.0,0.0,0,21,8.90,0.00,0.00,0.000,2049,0.089,0.000,990,1927,1784,1784,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.23,52.12
$GC,25,-1.78,-487.5,990,1927,1784,4094,0.9,0.0,1,53,8.45,1.25,-11.55,0.000,18692,0.053,1.244,1762,2381,3054,3054,4095,0,0,0,0,0,0,25.89,24.36,25.97,10.24,52.00
$GC,204,-1.78,-487.5,1762,2381,3059,4095,25.7,-17.9,26,213,0.00,1.05,0.00,0.000,1030,0.000,0.031,1762,1962,3059,3059,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.50,50.82
$GC,252,-1.78,-487.5,1762,1962,3060,4094,31.9,-13.1,32,262,0.00,1.10,0.00,0.000,516,0.000,0.049,1762,1523,3060,3060,4095,0,0,0,0,0,0,26.33,25.98,26.34,10.45,50.23
$GC,306,-1.78,-487.5,1763,1523,3061,4095,39.2,-13.1,39,316,0.00,1.05,0.00,0.000,1030,0.000,0.026,1762,1970,3061,3061,4094,0,0,0,0,0,0,26.17,26.12,26.17,10.41,48.81
$GC,354,-1.78,-487.5,1762,1970,3062,4094,45.3,-13.2,45,363,0.00,1.05,0.00,0.000,260,0.000,0.046,1762,2372,3062,3062,4094,0,0,0,0,0,0,26.40,26.06,26.41,10.39,47.40
$GC,414,-1.78,-487.5,1762,2371,3064,4094,53.6,-14.0,53,424,0.00,1.00,0.00,0.000,1030,0.000,0.029,1763,1971,3064,3064,4094,0,0,0,0,0,0,26.21,26.16,26.22,10.38,46.49
$STATE,458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,458,begin apogee
$GC,467,-0.45,0.0,1762,2144,3066,4095,60.2,-14.1,59,510,4.57,0.00,28.27,1.304,10244,0.055,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.13,25.26,24.21,10.37,45.82
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,515,1.78,487.5,2185,2144,2484,4094,63.9,0.0,64,561,7.55,1.10,27.90,1.282,10500,0.031,0.051,2892,2555,1916,1916,4094,0,0,0,0,0,0,25.50,25.44,23.84,10.24,45.74
$GC,573,1.89,562.8,2892,2554,1916,4094,60.6,9.4,70,584,0.30,1.08,6.03,0.903,11270,0.033,0.025,2929,2129,1828,1828,4094,0,0,0,0,0,0,25.22,25.19,23.94,10.12,44.76
$GC,623,1.89,562.8,2929,2128,1826,4094,54.0,14.0,76,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2129,1826,1826,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.08,44.25
$GC,670,1.89,562.8,2929,2128,1824,4094,47.1,14.5,82,680,0.00,1.10,0.00,0.000,516,0.000,0.047,2930,1710,1824,1824,4094,0,0,0,0,0,0,25.77,25.46,25.79,10.08,44.64
$GC,752,1.89,562.8,2929,1709,1822,4094,35.4,13.6,93,761,0.00,1.02,0.00,0.000,1030,0.000,0.029,2929,2123,1821,1821,4094,0,0,0,0,0,0,25.73,25.70,25.76,10.06,45.35
$GC,801,1.89,562.8,2929,2122,1820,4094,28.6,13.8,99,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2123,1820,1820,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.07,45.86
$GC,849,1.89,562.8,2929,2122,1818,4094,22.4,12.5,105,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2123,1818,1818,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.12,47.32
$GC,897,1.89,562.8,2929,2122,1817,4094,17.0,11.0,111,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2123,1817,1817,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.15,50.07
$GC,945,1.89,562.8,2929,2122,1816,4094,11.7,11.1,117,954,0.00,1.08,0.00,0.000,516,0.000,0.046,2929,1717,1815,1815,4094,0,0,0,0,0,0,26.24,25.89,26.25,10.16,50.51
$GC,985,1.89,562.8,2929,1717,1815,4094,7.1,10.8,122,995,0.00,1.05,0.00,0.000,1030,0.000,0.028,2930,2147,1814,1814,4094,0,0,0,0,0,0,26.02,25.99,26.06,10.18,51.14
$GC,1033,1.89,562.8,2929,2147,1813,4094,2.1,11.4,128,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2147,1813,1813,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.18,51.45
$STATE,1048,end climb,FINISH_DEPTH_REACHED
$STATE,1048,begin subsurface finish
$FINISH1,0.4,1.023877,120
$GC,1058,0.18,120.1,2929,2146,1813,4094,0.4,10.0,130,1077,5.32,0.00,-4.72,0.000,20486,0.024,0.000,2413,2147,2350,2350,4094,0,0,0,0,0,0,26.09,25.45,26.14,10.19,52.40
$FINISH2,0.3
$STATE,1078,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1078,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,073252
$TT8_MAMPS,0.025466,0.252413
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.84,40.711
$10V_AH,10.12,40.908
$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,35.100,13.350,62.200,0.000,0.000,25.756,22.221,241.306,0.000,0.000,16.669,383.234,0.000,125.944,827.360,256.353,0.000,366.538,0.000,324.973,0.000,0.542,0.000
$DEVICE_MAMPS,88.740,1243.890,1304.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.682,358.695,283.894,420.778,548.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,10881,132
$CAP_FILE_SIZE,30868,0
$CFSIZE,1024409600,948830208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210817,084911,6141.892,-17353.520,7,0.8,15,7.0,0.6,57.4,10,5.0