version: 66.13
glider: 401
mission: 22
dive: 1490
start: 8 22 117 5 39 36
data:
$ID,401
$MISSION,22
$DIVE,1490
$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,29
$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
$GPS1,220817,051850,6133.5479,-17353.5938,7,0.7,47,7.0,0.6,26.1,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.2
$GPS2,220817,051850,6133.5479,-17353.5938,7,0.7,47,7.0,0.6,26.1,11,4.9
$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,146.1,18462,-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,-487.5,2392,1948,2363,4092,0.0,0.0,0,21,6.20,0.00,-2.47,0.000,20482,0.021,0.000,1784,1948,2632,2632,4094,0,0,0,0,0,0,26.17,28.83,26.21,10.33,52.79
$GC,26,-1.78,-487.5,1784,1948,2633,4094,0.0,0.0,1,36,0.00,1.20,-4.00,0.000,16644,0.000,1.261,1784,2377,3056,3056,4095,0,0,0,0,0,0,26.39,24.53,26.41,10.38,52.55
$GC,158,-1.78,-487.5,1783,2377,3059,4095,16.8,-18.8,20,168,0.00,1.10,0.00,0.000,1030,0.000,0.030,1784,1938,3059,3059,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.49,52.48
$GC,206,-1.78,-487.5,1783,1937,3061,4094,24.5,-16.0,26,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1938,3061,3061,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.48,52.95
$GC,252,-1.78,-487.5,1783,1937,3061,4094,31.4,-14.5,32,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1937,3062,3062,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.46,51.96
$GC,298,-1.78,-487.5,1783,1938,3062,4094,37.5,-13.3,38,306,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1938,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.42,51.33
$GC,344,-1.78,-487.5,1783,1937,3063,4095,42.8,-11.4,44,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1938,3064,3064,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.39,49.84
$GC,390,-1.78,-487.5,1783,1938,3065,4094,48.3,-12.2,50,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1937,3065,3065,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.38,48.70
$GC,437,-1.78,-487.5,1783,1937,3066,4095,54.5,-13.3,56,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1938,3066,3066,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.37,47.79
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,489,-0.45,0.0,1784,2146,3068,4095,60.5,-13.1,62,525,4.32,0.00,28.23,1.306,10244,0.054,0.000,2186,2147,2484,2484,4095,0,0,0,0,0,0,26.22,25.35,24.31,10.37,47.28
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,530,1.78,487.5,2185,2146,2484,4095,63.8,0.0,66,575,7.53,0.00,27.85,1.280,11270,0.031,0.000,2892,2147,1918,1918,4094,0,0,0,0,0,0,25.61,25.77,23.89,10.23,46.69
$GC,614,1.78,487.5,2891,2146,1917,4094,57.4,12.1,76,624,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1716,1917,1917,4094,0,0,0,0,0,0,25.62,25.32,25.63,10.11,45.62
$GC,701,1.78,487.5,2892,1716,1914,4094,46.1,13.0,88,711,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2128,1914,1914,4094,0,0,0,0,0,0,25.68,25.63,25.67,10.09,45.47
$GC,749,1.78,487.5,2891,2128,1913,4094,39.5,13.9,94,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1912,1912,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.09,46.02
$GC,796,1.78,487.5,2891,2128,1911,4094,33.2,12.7,100,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2128,1911,1911,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.09,46.61
$GC,842,1.78,487.5,2892,2128,1910,4094,27.5,12.0,106,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1910,1910,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.11,47.04
$GC,889,1.78,487.5,2892,2128,1908,4094,21.9,11.9,112,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1908,1908,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,48.62
$GC,936,1.78,487.5,2891,2128,1907,4094,16.6,11.3,118,945,0.00,1.10,0.00,0.000,516,0.000,0.047,2892,1712,1906,1906,4094,0,0,0,0,0,0,26.26,25.91,26.27,10.16,50.43
$GC,1036,1.86,539.1,2891,1712,1905,4094,6.8,9.8,132,1047,0.20,1.02,4.03,0.401,11270,0.043,0.030,2920,2130,1855,1855,4094,0,0,0,0,0,0,26.07,26.06,24.91,10.19,51.85
$STATE,1083,end climb,FINISH_DEPTH_REACHED
$STATE,1083,begin subsurface finish
$FINISH1,1.3,1.024043,109
$GC,1093,0.16,108.5,2920,2131,1853,4094,1.3,11.5,138,1112,5.43,0.00,-4.55,0.000,20486,0.024,0.000,2394,2131,2362,2362,4094,0,0,0,0,0,0,26.10,25.46,26.15,10.19,52.20
$FINISH2,0.2
$STATE,1113,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1113,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,040106
$TT8_MAMPS,0.026215,0.246421
$HUMID,52.75
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.89,42.188
$10V_AH,10.15,42.129
$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,23.675,8.725,60.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,385.594,0.000,114.488,586.224,87.753,0.000,343.478,0.000,342.040,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1260.720,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.537,380.409,301.053,446.318,583.539,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330628
$DATA_FILE_SIZE,14302,140
$CAP_FILE_SIZE,25451,0
$CFSIZE,1024409600,946274304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,051850,6133.548,-17353.594,7,0.7,47,7.0,0.6,26.1,11,4.9