version: 66.13
glider: 401
mission: 22
dive: 1460
start: 8 21 117 17 37 25
data:
$ID,401
$MISSION,22
$DIVE,1460
$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,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
$GPS1,210817,171702,6137.6650,-17353.3379,6,0.8,41,7.0,0.4,16.5,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-2.9
$GPS2,210817,171702,6137.6650,-17353.3379,6,0.8,41,7.0,0.4,16.5,11,4.6
$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,154.3,25421,-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,-487.5,2393,1939,2360,4092,0.0,0.0,0,21,6.38,0.00,-2.83,0.000,20482,0.023,0.000,1773,1939,2671,2671,4095,0,0,0,0,0,0,26.10,28.83,26.16,10.32,52.75
$GC,26,-1.78,-487.5,1773,1939,2669,4095,0.3,0.0,1,36,0.00,1.25,-3.58,0.000,16644,0.000,1.268,1773,2377,3055,3055,4095,0,0,0,0,0,0,26.36,24.51,26.36,10.38,52.55
$GC,152,-1.78,-487.5,1773,2377,3058,4095,16.3,-17.1,19,161,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1957,3058,3058,4094,0,0,0,0,0,0,26.10,26.07,26.14,10.49,52.63
$GC,201,-1.78,-487.5,1773,1957,3060,4094,24.5,-17.1,25,210,0.00,1.10,0.00,0.000,516,0.000,0.051,1773,1524,3060,3060,4094,0,0,0,0,0,0,26.40,26.04,26.41,10.47,52.87
$GC,294,-1.78,-487.5,1772,1524,3062,4094,37.7,-12.6,38,303,0.00,1.00,0.00,0.000,1030,0.000,0.027,1773,1952,3062,3062,4094,0,0,0,0,0,0,26.23,26.21,26.25,10.40,50.43
$GC,343,-1.78,-487.5,1773,1952,3063,4094,43.4,-11.9,44,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1952,3062,3062,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.38,49.88
$GC,390,-1.78,-487.5,1772,1952,3064,4094,49.2,-12.1,50,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1952,3064,3064,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.37,48.93
$GC,438,-1.78,-487.5,1772,1952,3065,4094,55.3,-12.9,56,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1952,3066,3066,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.36,47.48
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,483,-0.45,0.0,1773,2144,3066,4095,60.7,-13.0,61,519,4.43,0.00,28.23,1.303,10244,0.054,0.000,2185,2144,2484,2484,4095,0,0,0,0,0,0,26.20,25.32,24.30,10.36,47.55
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,524,1.78,487.5,2185,2144,2484,4095,63.9,0.0,65,569,7.53,0.00,28.05,1.281,11270,0.031,0.000,2892,2144,1915,1915,4094,0,0,0,0,0,0,25.60,25.75,23.88,10.23,46.69
$GC,608,1.78,487.5,2891,2144,1914,4094,57.2,12.6,75,617,0.00,1.17,0.00,0.000,516,0.000,0.044,2892,1710,1914,1914,4094,0,0,0,0,0,0,25.60,25.31,25.61,10.10,45.23
$GC,689,1.78,487.5,2891,1710,1911,4094,46.4,13.3,86,699,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2122,1911,1911,4094,0,0,0,0,0,0,25.67,25.62,25.69,10.08,46.22
$GC,738,1.78,487.5,2891,2122,1910,4094,39.9,13.3,92,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2122,1910,1910,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.08,46.06
$GC,787,1.78,487.5,2892,2122,1908,4094,33.8,12.1,98,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1908,1908,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.08,46.53
$GC,835,1.78,487.5,2891,2122,1907,4094,27.8,12.2,104,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1907,1907,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.08,46.92
$GC,883,1.82,517.0,2891,2122,1906,4094,22.7,10.1,110,892,0.00,0.00,3.12,0.356,8198,0.000,0.000,2892,2122,1879,1879,4094,0,0,0,0,0,0,26.20,25.28,24.67,10.12,48.14
$GC,932,1.93,591.8,2891,2122,1878,4094,18.2,9.4,116,943,0.45,1.08,5.55,0.575,10756,0.034,0.047,2942,1716,1794,1794,4094,0,0,0,0,0,0,26.01,25.70,24.77,10.15,50.03
$GC,1015,1.93,591.8,2941,1715,1791,4094,8.8,11.8,127,1025,0.00,1.00,0.00,0.000,1030,0.000,0.030,2942,2126,1791,1791,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.16,51.77
$GC,1064,1.93,591.8,2941,2125,1789,4094,3.1,11.5,133,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2125,1789,1789,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.16,52.36
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1081,begin subsurface finish
$FINISH1,0.6,1.024003,111
$GC,1091,0.17,111.3,2942,2125,1789,4095,0.6,11.1,135,1109,5.62,0.00,-5.05,0.000,20486,0.024,0.000,2395,2126,2357,2357,4094,0,0,0,0,0,0,26.08,25.44,26.13,10.17,52.20
$FINISH2,0.2
$STATE,1110,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1111,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,170919
$TT8_MAMPS,0.026215,0.244174
$HUMID,53.38
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.88,41.337
$10V_AH,10.15,41.423
$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,24.400,9.575,64.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,396.656,0.000,114.544,572.924,86.834,0.000,341.735,0.000,334.312,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1268.370,1302.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.542,372.256,294.628,436.697,570.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,14359,137
$CAP_FILE_SIZE,25949,0
$CFSIZE,1024409600,947748864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,171702,6137.665,-17353.338,6,0.8,41,7.0,0.4,16.5,11,4.6