version: 66.13
glider: 401
mission: 22
dive: 1463
start: 8 21 117 18 52 13
data:
$ID,401
$MISSION,22
$DIVE,1463
$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,23
$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
$GPS1,210817,183117,6137.0942,-17352.5234,7,1.2,52,7.0,0.6,106.1,8,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-4.8
$GPS2,210817,183117,6137.0942,-17352.5234,7,1.2,52,7.0,0.6,106.1,8,3.0
$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,155.2,24191,-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,-487.5,2395,1953,2360,4092,0.0,0.0,0,18,6.35,0.00,0.00,0.000,4097,0.024,0.000,1782,1954,2360,2360,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.33,51.73
$GC,22,-1.78,-487.5,1781,1953,2360,4094,0.1,0.0,1,35,0.00,1.15,-6.43,0.000,16644,0.000,1.239,1781,2392,3057,3057,4095,0,0,0,0,0,0,26.30,24.49,26.31,10.33,51.61
$GC,202,-1.78,-487.5,1781,2395,3062,4095,22.3,-16.7,30,209,0.00,1.12,0.00,0.000,1030,0.000,0.030,1781,1942,3062,3062,4095,0,0,0,0,0,0,26.12,26.08,26.15,10.49,52.08
$GC,242,-1.78,-487.5,1781,1942,3062,4095,28.5,-15.8,36,249,0.00,1.05,0.00,0.000,516,0.000,0.051,1781,1525,3063,3063,4094,0,0,0,0,0,0,26.40,26.06,26.41,10.45,51.65
$GC,324,-1.78,-487.5,1781,1525,3065,4094,39.2,-12.7,49,331,0.00,0.98,0.00,0.000,1030,0.000,0.025,1781,1948,3065,3065,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.40,50.07
$GC,364,-1.78,-487.5,1780,1948,3066,4095,43.9,-11.4,55,371,0.00,1.08,0.00,0.000,260,0.000,0.044,1781,2360,3066,3066,4095,0,0,0,0,0,0,26.47,26.14,26.48,10.38,49.80
$GC,434,-1.78,-487.5,1781,2360,3067,4095,52.6,-12.6,66,441,0.00,1.02,0.00,0.000,1030,0.000,0.031,1781,1948,3067,3067,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.37,48.42
$GC,475,-1.78,-487.5,1781,1948,3068,4094,57.7,-12.7,72,481,0.00,1.08,0.00,0.000,516,0.000,0.051,1781,1521,3068,3068,4095,0,0,0,0,0,0,26.53,26.17,26.53,10.36,48.46
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,504,-0.45,0.0,1782,2127,3069,4095,60.6,-13.2,75,540,4.35,0.00,28.23,1.304,10244,0.054,0.000,2185,2127,2484,2484,4094,0,0,0,0,0,0,26.19,25.32,24.28,10.36,47.91
$STATE,541,end apogee,CONTROL_FINISHED_OK
$STATE,541,begin climb
$GC,545,1.78,487.5,2185,2126,2484,4094,63.7,0.0,81,587,7.55,0.00,27.92,1.281,11270,0.031,0.000,2893,2127,1915,1915,4094,0,0,0,0,0,0,25.59,25.75,23.87,10.23,46.65
$GC,620,1.78,487.5,2892,2126,1914,4094,57.6,12.6,93,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2127,1913,1913,4094,0,0,0,0,0,0,25.56,25.57,25.56,10.10,45.62
$GC,660,1.78,487.5,2892,2126,1913,4094,52.4,13.1,99,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2127,1912,1912,4094,0,0,0,0,0,0,25.72,25.75,25.74,10.09,45.43
$GC,699,1.78,487.5,2892,2126,1911,4094,47.0,13.3,105,706,0.00,1.10,0.00,0.000,516,0.000,0.044,2893,1714,1911,1911,4094,0,0,0,0,0,0,25.85,25.53,25.86,10.09,46.14
$GC,769,1.78,487.5,2892,1714,1909,4094,37.6,13.7,116,776,0.00,1.05,0.00,0.000,1030,0.000,0.031,2893,2136,1909,1909,4094,0,0,0,0,0,0,25.77,25.73,25.79,10.07,46.06
$GC,809,1.78,487.5,2892,2135,1908,4094,32.2,12.9,122,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2135,1908,1908,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.08,46.88
$GC,849,1.78,487.5,2892,2135,1907,4094,27.1,13.2,128,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2136,1907,1907,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.08,47.16
$GC,888,1.78,491.5,2892,2135,1906,4094,22.7,10.5,134,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2136,1906,1906,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.10,48.07
$GC,928,1.87,549.4,2892,2135,1905,4094,18.9,9.7,140,942,0.22,1.10,4.65,0.534,10756,0.048,0.045,2924,1714,1842,1842,4094,0,0,0,0,0,0,26.01,25.70,24.75,10.13,49.21
$GC,1057,1.88,558.7,2923,1714,1840,4094,5.7,10.4,160,1064,0.00,1.02,2.22,0.099,9222,0.000,0.031,2924,2132,1831,1831,4094,0,0,0,0,0,0,26.06,26.02,24.91,10.16,53.26
$STATE,1088,end climb,FINISH_DEPTH_REACHED
$STATE,1088,begin subsurface finish
$FINISH1,1.5,1.024005,111
$GC,1098,0.17,111.1,2924,2131,1831,4094,1.5,11.7,165,1117,5.57,1.25,-4.68,0.000,20740,0.041,1.269,2396,2566,2360,2360,4095,0,0,0,0,0,0,26.08,24.50,26.14,10.18,53.46
$FINISH2,0.2
$STATE,1118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,182126
$TT8_MAMPS,0.025466,0.109354
$HUMID,53.38
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.87,41.430
$10V_AH,10.39,41.484
$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,24.050,14.975,63.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.740,271.430,142.253,243.968,86.661,0.000,318.948,0.000,252.666,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1269.135,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.757,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,10832,168
$CAP_FILE_SIZE,27699,0
$CFSIZE,1024409600,947601408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,183117,6137.094,-17352.523,7,1.2,52,7.0,0.6,106.1,8,3.0