version: 66.13
glider: 401
mission: 22
dive: 1457
start: 8 21 117 16 24 7
data:
$ID,401
$MISSION,22
$DIVE,1457
$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,22
$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
$GPS1,210817,160315,6138.0557,-17353.9883,6,0.7,15,7.0,0.0,313.8,11,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-5.1
$GPS2,210817,160315,6138.0557,-17353.9883,6,0.7,15,7.0,0.0,313.8,11,4.8
$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,153.7,26293,-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,-487.5,2393,1978,2358,4092,0.0,0.0,0,18,5.78,0.00,0.00,0.000,4097,0.019,0.000,1825,1978,2359,2359,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.33,51.77
$GC,22,-1.78,-487.5,1825,1978,2359,4094,0.3,0.0,1,36,0.32,1.10,-6.05,0.000,20740,0.037,1.245,1785,2386,3055,3055,4095,0,0,0,0,0,0,26.09,24.49,26.11,10.33,51.73
$GC,185,-1.78,-487.5,1784,2386,3060,4095,24.2,-17.6,27,191,0.00,1.10,0.00,0.000,1030,0.000,0.031,1785,1946,3059,3059,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.49,51.77
$GC,225,-1.78,-487.5,1784,1945,3061,4094,30.2,-14.4,33,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1945,3061,3061,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.45,51.45
$GC,264,-1.78,-487.5,1784,1945,3061,4095,35.2,-12.3,39,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1945,3062,3062,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.42,51.18
$GC,303,-1.78,-487.5,1784,1945,3062,4095,39.8,-11.8,45,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1945,3062,3062,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.39,49.37
$GC,343,-1.78,-487.5,1784,1945,3064,4095,44.5,-12.3,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1945,3064,3064,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.38,48.66
$GC,382,-1.78,-487.5,1784,1945,3064,4095,49.4,-12.2,57,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1945,3064,3064,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.38,48.14
$GC,421,-1.78,-487.5,1784,1945,3065,4094,54.3,-12.4,63,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1945,3066,3066,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.37,47.63
$GC,460,-1.78,-487.5,1784,1945,3067,4095,59.3,-13.1,69,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1946,3066,3066,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,47.12
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,481,-0.45,0.0,1784,2148,3067,4094,61.2,-12.7,71,517,4.30,0.00,28.23,1.312,10244,0.054,0.000,2185,2148,2484,2484,4094,0,0,0,0,0,0,26.18,25.31,24.26,10.36,46.92
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,522,1.78,487.5,2185,2148,2484,4094,64.1,0.0,77,563,7.50,0.00,27.90,1.285,11270,0.031,0.000,2891,2148,1915,1915,4094,0,0,0,0,0,0,25.58,25.73,23.86,10.23,46.53
$GC,597,1.78,487.5,2890,2147,1914,4094,58.0,12.5,89,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2148,1914,1914,4094,0,0,0,0,0,0,25.55,25.56,25.55,10.09,45.82
$GC,636,1.78,487.5,2890,2148,1913,4094,52.9,12.9,95,643,0.00,1.17,0.00,0.000,516,0.000,0.044,2892,1712,1913,1913,4094,0,0,0,0,0,0,25.72,25.41,25.73,10.09,46.10
$GC,712,1.78,487.5,2891,1711,1911,4094,43.0,13.4,107,719,0.00,1.02,0.00,0.000,1030,0.000,0.030,2891,2125,1911,1911,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.08,45.86
$GC,753,1.78,487.5,2891,2124,1910,4094,37.5,14.0,113,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2125,1910,1910,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.08,46.45
$GC,792,1.80,499.5,2891,2124,1909,4094,32.9,10.3,119,800,0.00,1.10,2.28,0.149,8708,0.000,0.046,2891,1710,1901,1901,4094,0,0,0,0,0,0,26.08,25.56,24.45,10.07,46.88
$GC,857,1.80,499.5,2891,1710,1900,4094,25.6,11.0,129,864,0.00,1.00,0.00,0.000,1030,0.000,0.028,2891,2122,1899,1899,4094,0,0,0,0,0,0,25.92,25.90,25.95,10.09,47.91
$GC,898,1.84,532.2,2891,2122,1899,4094,21.7,10.0,135,905,0.15,0.00,3.45,0.412,10246,0.061,0.000,2913,2122,1863,1863,4094,0,0,0,0,0,0,25.98,25.61,24.69,10.14,48.50
$GC,939,1.99,628.1,2913,2121,1862,4094,17.5,9.1,141,952,0.43,0.00,6.62,0.630,10246,0.034,0.000,2965,2122,1751,1751,4094,0,0,0,0,0,0,26.00,25.60,24.76,10.15,51.06
$GC,986,1.99,628.1,2965,2122,1750,4094,12.0,12.8,148,992,0.00,1.10,0.00,0.000,516,0.000,0.048,2965,1709,1750,1750,4094,0,0,0,0,0,0,26.18,25.84,26.20,10.14,51.33
$GC,1056,1.99,628.1,2965,1709,1747,4094,3.3,11.5,159,1062,0.00,1.00,0.00,0.000,1030,0.000,0.028,2965,2120,1747,1747,4094,0,0,0,0,0,0,26.02,25.98,26.04,10.16,53.42
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1067,begin subsurface finish
$FINISH1,1.8,1.024006,111
$GC,1077,0.17,111.1,2965,2120,1747,4094,1.8,10.8,161,1096,5.90,0.00,-5.35,0.000,20742,0.025,0.000,2395,2121,2361,2361,4094,0,0,0,0,0,0,26.06,24.72,26.06,10.16,53.54
$FINISH2,0.2
$STATE,1097,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,155626
$TT8_MAMPS,0.025466,0.107856
$HUMID,53.22
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.86,41.250
$10V_AH,10.38,41.341
$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,24.375,9.500,68.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,425.341,248.928,151.520,238.461,92.570,0.000,332.099,0.000,247.118,0.000,0.542,0.000
$DEVICE_MAMPS,61.200,1244.655,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,10804,164
$CAP_FILE_SIZE,29440,0
$CFSIZE,1024409600,947896320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,160315,6138.056,-17353.988,6,0.7,15,7.0,0.0,313.8,11,4.8