version: 66.13
glider: 401
mission: 22
dive: 1510
start: 8 22 117 13 42 50
data:
$ID,401
$MISSION,22
$DIVE,1510
$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,16
$R_STBD_OVSHOOT,56
$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
$GPS1,220817,133350,6128.5522,-17350.5547,8,0.8,18,7.0,0.5,265.6,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-40.9
$GPS2,220817,134213,6128.5259,-17350.7031,6,0.7,19,7.0,0.5,213.1,11,5.0
$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,134.0,9212,-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,-487.5,237,1961,1883,4092,0.0,0.0,0,20,8.82,0.00,0.00,0.000,2049,0.100,0.000,972,1958,1882,1882,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.25,52.00
$GC,25,-1.78,-487.5,972,1958,1883,4094,1.0,0.0,1,52,8.52,1.05,-10.88,0.000,18692,0.044,1.245,1763,2350,3049,3049,4094,0,0,0,0,0,0,25.90,24.32,25.94,10.26,51.69
$GC,244,-1.78,-487.5,1762,2350,3055,4094,28.9,-13.6,32,254,0.00,1.02,0.00,0.000,1030,0.000,0.031,1764,1940,3055,3055,4095,0,0,0,0,0,0,26.07,26.01,26.09,10.46,50.23
$GC,294,-1.78,-487.5,1763,1939,3056,4095,35.5,-13.6,38,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1939,3056,3056,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.43,49.13
$GC,341,-1.78,-487.5,1763,1940,3057,4095,42.1,-14.0,44,350,0.00,1.05,0.00,0.000,516,0.000,0.051,1764,1524,3058,3058,4095,0,0,0,0,0,0,26.41,26.04,26.42,10.41,48.38
$GC,422,-1.78,-487.5,1763,1524,3060,4095,53.4,-14.1,55,432,0.00,0.98,0.00,0.000,1030,0.000,0.027,1764,1942,3059,3059,4094,0,0,0,0,0,0,26.21,26.20,26.23,10.38,46.41
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,477,-0.45,0.0,1763,2141,3061,4094,60.3,-14.0,61,513,4.57,0.00,28.12,1.316,10244,0.055,0.000,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.13,25.27,24.23,10.38,45.94
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,519,1.78,487.5,2186,2141,2484,4094,64.1,0.0,65,563,7.47,0.00,28.02,1.291,11270,0.031,0.000,2892,2142,1918,1918,4094,0,0,0,0,0,0,25.55,25.71,23.83,10.24,45.43
$GC,603,1.78,487.5,2891,2141,1917,4094,57.3,13.1,75,612,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1712,1917,1917,4094,0,0,0,0,0,0,25.58,25.28,25.58,10.11,44.60
$GC,761,1.78,487.5,2891,1712,1912,4094,35.8,13.2,98,771,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2127,1912,1912,4094,0,0,0,0,0,0,25.77,25.75,25.80,10.09,45.55
$GC,810,1.78,487.5,2891,2127,1911,4094,29.8,12.8,104,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1911,1911,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.09,46.37
$GC,859,1.78,487.5,2891,2127,1909,4094,23.7,12.7,110,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1909,1909,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,46.81
$GC,907,1.78,487.5,2891,2127,1907,4094,18.0,11.6,116,916,0.00,1.08,0.00,0.000,516,0.000,0.044,2892,1718,1907,1907,4094,0,0,0,0,0,0,26.22,25.87,26.24,10.15,48.85
$GC,1013,1.79,493.3,2891,1718,1905,4094,6.4,10.4,131,1022,0.00,1.00,0.00,0.000,1030,0.000,0.030,2892,2128,1905,1905,4094,0,0,0,0,0,0,26.07,26.03,26.09,10.19,51.57
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1057,begin subsurface finish
$FINISH1,1.6,1.024079,106
$GC,1067,0.16,106.0,2891,2127,1903,4094,1.6,10.0,137,1086,5.12,0.00,-4.12,0.000,20486,0.022,0.000,2392,2128,2362,2362,4094,0,0,0,0,0,0,26.11,25.48,26.16,10.20,52.20
$FINISH2,0.2
$STATE,1087,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1087,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,122637
$TT8_MAMPS,0.026215,0.260652
$HUMID,52.55
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.83,42.754
$10V_AH,10.11,42.602
$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,34.525,8.900,56.150,0.000,0.000,22.792,20.355,241.625,0.000,0.000,21.156,398.194,0.413,103.557,849.265,251.664,0.000,319.839,0.000,340.528,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1245.420,1315.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.354,377.636,298.964,443.420,578.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14364,139
$CAP_FILE_SIZE,26843,0
$CFSIZE,1024409600,945291264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220817,134213,6128.526,-17350.703,6,0.7,19,7.0,0.5,213.1,11,5.0