version: 66.13
glider: 401
mission: 22
dive: 1453
start: 8 21 117 14 48 23
data:
$ID,401
$MISSION,22
$DIVE,1453
$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,25
$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
$GPS1,210817,143845,6138.3584,-17354.3633,4,0.7,13,7.0,0.0,89.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-35.9
$GPS2,210817,144747,6138.3789,-17354.3965,7,0.7,17,7.0,0.4,160.8,11,4.8
$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,153.4,26978,-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,-487.5,230,1939,1793,4092,0.0,0.0,0,18,6.03,0.00,0.00,0.000,2049,0.099,0.000,735,1939,1794,1794,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.24,52.16
$GC,22,-1.78,-487.5,734,1939,1793,4094,0.8,0.0,1,53,11.15,1.25,-11.62,0.000,18692,0.047,1.249,1763,2374,3055,3055,4095,0,0,0,0,0,0,25.89,24.34,25.96,10.24,51.10
$GC,190,-1.78,-487.5,1762,2376,3060,4095,21.7,-19.1,28,197,0.00,1.05,0.00,0.000,1030,0.000,0.030,1763,1954,3060,3060,4095,0,0,0,0,0,0,26.01,25.98,26.04,10.52,50.86
$GC,230,-1.78,-487.5,1763,1954,3061,4095,28.0,-14.5,34,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3061,3061,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.48,50.03
$GC,269,-1.78,-487.5,1763,1954,3062,4095,33.5,-13.9,40,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3062,3062,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.44,50.39
$GC,309,-1.78,-487.5,1763,1954,3063,4095,38.6,-12.8,46,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3062,3062,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.42,48.58
$GC,348,-1.78,-487.5,1762,1954,3064,4094,43.6,-12.5,52,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3064,3064,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.41,48.11
$GC,387,-1.78,-487.5,1763,1954,3064,4095,48.6,-12.9,58,394,0.00,1.08,0.00,0.000,516,0.000,0.050,1764,1528,3065,3065,4095,0,0,0,0,0,0,26.42,26.07,26.44,10.39,47.04
$GC,445,-1.78,-487.5,1763,1527,3066,4095,56.5,-13.8,67,452,0.00,1.05,0.00,0.000,1030,0.000,0.027,1763,1971,3067,3067,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.38,45.90
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,479,-0.45,0.0,1763,2141,3067,4094,60.3,-13.6,71,515,4.53,0.00,28.23,1.304,10244,0.054,0.000,2184,2141,2483,2483,4095,0,0,0,0,0,0,26.13,25.26,24.22,10.38,46.73
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,520,1.78,487.5,2184,2141,2484,4095,63.3,0.0,77,561,7.53,0.00,27.90,1.276,11270,0.031,0.000,2892,2141,1915,1915,4095,0,0,0,0,0,0,25.55,25.69,23.83,10.25,45.39
$GC,595,1.78,487.5,2891,2141,1915,4095,56.9,12.6,89,602,0.00,1.12,0.00,0.000,516,0.000,0.043,2892,1721,1915,1915,4094,0,0,0,0,0,0,25.53,25.25,25.54,10.12,44.52
$GC,701,1.78,487.5,2891,1720,1911,4094,42.4,13.6,106,708,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2131,1911,1911,4094,0,0,0,0,0,0,25.67,25.64,25.69,10.10,45.31
$GC,741,1.78,487.5,2891,2130,1910,4094,37.5,12.0,112,748,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1718,1910,1910,4094,0,0,0,0,0,0,25.98,25.66,26.00,10.10,45.90
$GC,817,1.78,487.5,2892,1718,1908,4094,28.3,11.7,124,824,0.00,0.98,0.00,0.000,1030,0.000,0.029,2892,2117,1908,1908,4094,0,0,0,0,0,0,25.88,25.85,25.90,10.09,47.00
$GC,857,1.78,487.5,2892,2116,1906,4094,23.9,11.1,130,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2117,1907,1907,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.12,46.92
$GC,897,1.90,570.6,2892,2116,1906,4094,20.2,9.3,136,910,0.35,0.00,5.82,0.615,10246,0.038,0.000,2934,2117,1817,1817,4094,0,0,0,0,0,0,25.98,25.34,24.72,10.16,48.50
$GC,943,1.90,570.6,2933,2117,1816,4094,15.6,10.6,143,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2117,1815,1815,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.17,51.41
$GC,983,1.90,570.6,2933,2117,1814,4094,11.2,10.8,149,989,0.00,1.05,0.00,0.000,516,0.000,0.046,2933,1719,1814,1814,4094,0,0,0,0,0,0,26.23,25.89,26.25,10.17,51.22
$GC,1053,1.90,570.6,2933,1719,1813,4094,3.6,11.4,160,1059,0.00,0.98,0.00,0.000,1030,0.000,0.028,2934,2122,1812,1812,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.19,53.11
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,1.8,1.023997,112
$GC,1074,0.17,111.7,2933,2122,1812,4094,1.8,11.7,162,1088,5.55,0.00,-4.82,0.000,20486,0.024,0.000,2396,2123,2359,2359,4095,0,0,0,0,0,0,26.06,24.72,26.12,10.19,53.03
$FINISH2,0.1
$STATE,1089,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,133112
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.42
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.83,41.136
$10V_AH,10.26,41.248
$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,35.125,11.075,61.950,0.000,0.000,26.391,28.381,267.454,0.000,0.000,18.559,428.274,252.905,153.130,543.468,264.262,0.000,336.352,0.000,248.473,0.000,0.544,0.000
$DEVICE_MAMPS,98.685,1249.245,1304.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,10795,164
$CAP_FILE_SIZE,32442,0
$CFSIZE,1024409600,948092928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210817,144747,6138.379,-17354.396,7,0.7,17,7.0,0.4,160.8,11,4.8