version: 66.13
glider: 401
mission: 22
dive: 1511
start: 8 22 117 14 2 48
data:
$ID,401
$MISSION,22
$DIVE,1511
$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,38
$R_STBD_OVSHOOT,28
$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
$GPS1,220817,134213,6128.5259,-17350.7031,6,0.7,19,7.0,0.5,213.1,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.0
$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,-487.5,2391,1940,2363,4092,0.0,0.0,0,18,5.85,0.00,0.00,0.000,4097,0.023,0.000,1818,1940,2363,2363,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.32,52.63
$GC,22,-1.78,-487.5,1818,1940,2363,4094,0.1,0.0,1,36,0.25,1.20,-6.40,0.000,20740,0.044,1.243,1785,2380,3056,3056,4095,0,0,0,0,0,0,26.08,24.47,26.11,10.33,52.67
$GC,170,-1.78,-487.5,1784,2379,3059,4095,15.0,-11.5,24,177,0.00,1.05,0.00,0.000,1030,0.000,0.031,1785,1960,3060,3060,4094,0,0,0,0,0,0,26.09,26.05,26.12,10.47,52.24
$GC,211,-1.78,-487.5,1784,1959,3060,4094,20.0,-11.4,30,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1959,3060,3060,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.47,52.63
$GC,250,-1.78,-487.5,1784,1959,3061,4094,25.2,-13.2,36,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1960,3062,3062,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.45,52.16
$GC,290,-1.78,-487.5,1784,1959,3062,4095,30.3,-13.3,42,296,0.00,1.12,0.00,0.000,516,0.000,0.051,1785,1519,3062,3062,4095,0,0,0,0,0,0,26.43,26.03,26.45,10.42,51.37
$GC,366,-1.78,-487.5,1784,1518,3064,4095,40.5,-13.4,54,372,0.00,1.05,0.00,0.000,1030,0.000,0.027,1785,1963,3064,3064,4095,0,0,0,0,0,0,26.24,26.20,26.26,10.38,49.68
$GC,406,-1.78,-487.5,1784,1963,3065,4095,45.6,-12.5,60,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1964,3065,3065,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.38,49.40
$GC,445,-1.78,-487.5,1784,1963,3066,4095,50.6,-12.7,66,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1963,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.37,48.11
$GC,485,-1.78,-487.5,1784,1963,3067,4095,55.7,-12.7,72,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1963,3067,3067,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.35,48.11
$STATE,514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,514,begin apogee
$GC,524,-0.45,0.0,1784,2144,3068,4095,60.1,-13.1,77,560,4.32,0.00,28.27,1.323,10244,0.054,0.000,2186,2144,2484,2484,4095,0,0,0,0,0,0,26.18,25.31,24.27,10.35,47.55
$STATE,561,end apogee,CONTROL_FINISHED_OK
$STATE,561,begin climb
$GC,565,1.78,487.5,2186,2144,2484,4095,63.2,0.0,83,607,7.55,0.00,27.92,1.294,11270,0.031,0.000,2892,2144,1916,1916,4094,0,0,0,0,0,0,25.58,25.74,23.85,10.22,47.40
$GC,641,1.78,487.5,2891,2144,1915,4094,57.0,12.8,95,647,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1715,1915,1915,4094,0,0,0,0,0,0,25.54,25.25,25.55,10.09,46.14
$GC,741,1.78,487.5,2892,1716,1912,4094,43.5,13.4,111,748,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2126,1912,1912,4094,0,0,0,0,0,0,25.65,25.62,25.69,10.08,47.08
$GC,781,1.78,487.5,2891,2126,1911,4094,38.1,13.6,117,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2126,1911,1911,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.07,46.61
$GC,821,1.78,487.5,2891,2126,1911,4094,33.0,12.1,123,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2126,1910,1910,4095,0,0,0,0,0,0,26.06,26.06,26.06,10.07,47.28
$GC,860,1.78,487.5,2892,2126,1908,4095,28.4,11.6,129,867,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1712,1908,1908,4094,0,0,0,0,0,0,26.11,25.77,26.12,10.08,47.40
$GC,960,1.78,487.5,2891,1711,1906,4094,16.6,11.6,145,967,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2128,1906,1906,4094,0,0,0,0,0,0,25.98,25.94,26.01,10.14,50.35
$GC,1000,1.78,487.5,2891,2128,1904,4094,12.2,11.1,151,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1905,1905,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.16,51.85
$GC,1040,1.78,487.5,2891,2128,1903,4094,7.9,10.6,157,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1904,1904,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.16,52.12
$GC,1079,1.78,487.5,2891,2128,1902,4094,3.8,10.6,163,1086,0.00,1.08,0.00,0.000,516,0.000,0.044,2892,1713,1902,1902,4094,0,0,0,0,0,0,26.34,25.98,26.34,10.18,52.75
$STATE,1097,end climb,FINISH_DEPTH_REACHED
$STATE,1097,begin subsurface finish
$FINISH1,1.4,1.024095,105
$GC,1109,0.16,104.9,2891,2139,1901,4094,1.4,10.7,166,1123,5.12,0.00,-4.15,0.000,20998,0.023,0.000,2392,2139,2369,2369,4094,0,0,0,0,0,0,26.11,24.68,26.15,10.18,53.22
$FINISH2,0.2
$STATE,1124,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,122637
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.42
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.85,42.775
$10V_AH,10.36,42.613
$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,23.100,11.750,56.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,436.846,269.804,139.894,244.357,92.651,0.000,319.266,0.000,252.528,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1243.125,1323.450,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,10852,168
$CAP_FILE_SIZE,28160,0
$CFSIZE,1024409600,945242112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,134213,6128.526,-17350.703,6,0.7,19,7.0,0.5,213.1,11,5.0