version: 66.13
glider: 401
mission: 22
dive: 1493
start: 8 22 117 6 52 6
data:
$ID,401
$MISSION,22
$DIVE,1493
$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,25
$R_STBD_OVSHOOT,19
$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
$GPS1,220817,063052,6133.2939,-17352.2871,7,0.7,21,7.0,0.6,76.1,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-4.1
$GPS2,220817,063052,6133.2939,-17352.2871,7,0.7,21,7.0,0.6,76.1,11,4.8
$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,148.8,17536,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,2394,1974,2359,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.022,0.000,1839,1974,2359,2359,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.33,51.96
$GC,22,-1.78,-487.5,1839,1974,2359,4094,0.2,0.0,1,36,0.45,1.12,-6.43,0.000,20740,0.032,1.241,1787,2393,3054,3054,4094,0,0,0,0,0,0,26.10,24.49,26.12,10.33,51.73
$GC,251,-1.78,-487.5,1786,2393,3059,4094,27.8,-14.7,38,258,0.00,1.12,0.00,0.000,1030,0.000,0.030,1787,1943,3060,3060,4095,0,0,0,0,0,0,26.16,26.13,26.19,10.47,51.45
$GC,291,-1.78,-487.5,1787,1942,3060,4095,32.8,-12.3,44,298,0.00,1.08,0.00,0.000,516,0.000,0.052,1787,1519,3060,3060,4094,0,0,0,0,0,0,26.45,26.09,26.46,10.43,51.77
$GC,367,-1.78,-487.5,1787,1519,3061,4094,42.5,-12.0,56,374,0.00,1.00,0.00,0.000,1030,0.000,0.026,1787,1950,3062,3062,4094,0,0,0,0,0,0,26.26,26.24,26.28,10.39,50.27
$GC,408,-1.78,-487.5,1786,1950,3063,4094,47.5,-12.6,62,414,0.00,1.08,0.00,0.000,260,0.000,0.044,1787,2369,3063,3063,4095,0,0,0,0,0,0,26.51,26.17,26.52,10.38,48.70
$GC,478,-1.78,-487.5,1786,2369,3064,4095,56.0,-11.9,73,484,0.00,1.05,0.00,0.000,1030,0.000,0.031,1787,1945,3065,3065,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.37,47.95
$STATE,508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,508,begin apogee
$GC,518,-0.45,0.0,1787,2138,3065,4094,60.4,-13.2,78,554,4.28,0.00,28.12,1.310,10244,0.054,0.000,2184,2138,2484,2484,4094,0,0,0,0,0,0,26.20,25.34,24.30,10.36,47.55
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,555,begin climb
$GC,559,1.78,487.5,2184,2138,2484,4094,63.9,0.0,84,601,7.45,1.12,27.92,1.291,10500,0.031,0.052,2891,2557,1915,1915,4094,0,0,0,0,0,0,25.53,25.48,23.87,10.23,47.28
$GC,611,1.92,584.2,2891,2557,1915,4094,61.3,9.1,92,625,0.40,1.08,7.10,0.977,11270,0.028,0.025,2941,2132,1803,1803,4094,0,0,0,0,0,0,25.21,25.18,23.94,10.11,45.90
$GC,659,1.92,584.2,2940,2132,1802,4094,54.9,14.2,99,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2132,1801,1801,4094,0,0,0,0,0,0,25.58,25.59,25.59,10.07,45.90
$GC,698,1.92,584.2,2940,2132,1800,4094,48.8,14.9,105,705,0.00,1.08,0.00,0.000,516,0.000,0.047,2941,1726,1799,1799,4094,0,0,0,0,0,0,25.74,25.43,25.75,10.07,45.78
$GC,762,1.92,584.2,2940,1725,1797,4094,39.1,15.5,115,769,0.00,1.00,0.00,0.000,1030,0.000,0.031,2941,2125,1797,1797,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.06,46.81
$GC,802,1.92,584.2,2940,2124,1796,4094,33.1,14.1,121,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2125,1796,1796,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.05,47.20
$GC,842,1.92,584.2,2941,2124,1795,4094,27.7,14.1,127,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2125,1795,1795,4095,0,0,0,0,0,0,26.07,26.08,26.08,10.09,47.32
$GC,881,1.92,584.2,2941,2124,1794,4095,22.5,13.0,133,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2125,1793,1793,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.12,48.26
$GC,921,1.92,584.2,2940,2124,1793,4094,17.3,13.3,139,927,0.00,1.08,0.00,0.000,516,0.000,0.047,2941,1719,1792,1792,4094,0,0,0,0,0,0,26.18,25.84,26.19,10.14,50.15
$GC,973,1.92,584.2,2940,1719,1790,4094,10.7,12.3,147,979,0.00,1.00,0.00,0.000,1030,0.000,0.031,2941,2128,1790,1790,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.15,51.61
$GC,1013,1.92,584.2,2940,2128,1789,4094,6.1,11.9,153,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2128,1789,1789,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.16,52.67
$STATE,1048,end climb,FINISH_DEPTH_REACHED
$STATE,1049,begin subsurface finish
$FINISH1,1.5,1.024007,111
$GC,1059,0.17,111.0,2941,2128,1788,4094,1.5,11.7,159,1078,5.60,1.12,-4.75,0.000,20996,0.018,1.257,2394,1716,2362,2362,4094,0,0,0,0,0,0,26.08,24.50,26.13,10.17,52.79
$FINISH2,0.5
$STATE,1079,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1079,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,062403
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.30
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.87,42.272
$10V_AH,10.38,42.188
$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,23.825,14.775,63.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,421.084,257.473,140.395,235.457,84.848,0.000,313.964,0.000,244.258,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1256.895,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.482,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,10865,162
$CAP_FILE_SIZE,27585,0
$CFSIZE,1024409600,946126848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,063052,6133.294,-17352.287,7,0.7,21,7.0,0.6,76.1,11,4.8