version: 66.13
glider: 401
mission: 22
dive: 1403
start: 8 20 117 18 18 25
data:
$ID,401
$MISSION,22
$DIVE,1403
$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,37
$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
$GPS1,200817,175710,6146.7485,-17355.8633,7,0.7,18,7.0,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-1.5
$GPS2,200817,175710,6146.7485,-17355.8633,7,0.7,18,7.0,0.0,0.0,11,4.9
$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,158.8,42202,-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,-487.5,2399,1934,2347,4092,0.0,0.0,0,18,6.20,0.00,0.00,0.000,4097,0.025,0.000,1802,1935,2347,2347,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.32,52.32
$GC,22,-1.78,-487.5,1802,1934,2347,4094,0.1,0.0,1,35,0.00,1.20,-6.45,0.000,16644,0.000,1.248,1802,2381,3053,3053,4094,0,0,0,0,0,0,26.31,24.53,26.32,10.32,52.24
$GC,208,-1.78,-487.5,1802,2381,3058,4094,24.5,-15.5,31,215,0.08,1.05,0.00,0.000,5126,0.056,0.030,1785,1961,3058,3058,4095,0,0,0,0,0,0,26.08,26.10,26.13,10.48,52.12
$GC,248,-1.78,-487.5,1785,1961,3059,4095,29.3,-11.7,37,255,0.00,1.12,0.00,0.000,516,0.000,0.052,1785,1520,3059,3059,4095,0,0,0,0,0,0,26.41,26.04,26.43,10.44,52.87
$GC,330,-1.78,-487.5,1785,1520,3061,4095,39.6,-12.5,50,337,0.00,1.00,0.00,0.000,1030,0.000,0.025,1785,1951,3061,3061,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.38,49.96
$GC,370,-1.78,-487.5,1784,1950,3062,4094,44.5,-12.2,56,377,0.00,1.08,0.00,0.000,260,0.000,0.044,1785,2365,3062,3062,4094,0,0,0,0,0,0,26.48,26.16,26.49,10.38,49.13
$GC,440,-1.78,-487.5,1784,2364,3064,4094,53.2,-12.6,67,447,0.00,1.05,0.00,0.000,1030,0.000,0.031,1785,1944,3064,3064,4095,0,0,0,0,0,0,26.26,26.22,26.28,10.36,48.70
$GC,480,-1.78,-487.5,1784,1943,3064,4095,58.3,-13.0,73,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1943,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.36,47.83
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,500,-0.45,0.0,1785,2135,3065,4094,60.1,-12.5,75,536,4.30,0.00,28.08,1.294,10244,0.054,0.000,2184,2136,2484,2484,4094,0,0,0,0,0,0,26.20,25.34,24.30,10.35,48.42
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,541,1.78,487.5,2184,2135,2483,4094,63.0,0.0,81,583,7.55,0.00,27.80,1.269,11270,0.031,0.000,2892,2136,1915,1915,4095,0,0,0,0,0,0,25.60,25.76,23.89,10.23,47.12
$GC,617,1.78,487.5,2891,2135,1914,4095,57.0,12.0,93,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2135,1914,1914,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.09,46.81
$GC,656,1.78,487.5,2891,2135,1913,4094,51.9,12.9,99,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2136,1913,1913,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.09,46.02
$GC,695,1.78,487.5,2891,2136,1911,4094,46.7,13.5,105,702,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1714,1912,1912,4094,0,0,0,0,0,0,25.86,25.55,25.87,10.08,46.22
$GC,771,1.78,487.5,2892,1714,1909,4094,36.5,13.4,117,778,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2130,1909,1909,4094,0,0,0,0,0,0,25.79,25.75,25.82,10.06,47.16
$GC,811,1.78,487.5,2892,2129,1908,4094,31.4,12.7,123,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2130,1908,1908,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.08,47.00
$GC,850,1.78,487.5,2892,2129,1907,4094,26.7,11.9,129,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2130,1907,1907,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.07,47.24
$GC,889,1.78,487.5,2892,2129,1906,4094,22.0,11.5,135,896,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1715,1906,1906,4095,0,0,0,0,0,0,26.19,25.86,26.20,10.11,48.03
$GC,1014,1.94,595.7,2892,1714,1903,4095,10.7,8.9,155,1027,0.45,1.02,6.72,0.588,11270,0.032,0.029,2945,2134,1789,1789,4094,0,0,0,0,0,0,26.08,26.04,24.93,10.17,53.18
$GC,1061,1.94,595.7,2944,2133,1788,4094,5.7,11.1,162,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2134,1788,1788,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.16,52.71
$STATE,1096,end climb,FINISH_DEPTH_REACHED
$STATE,1097,begin subsurface finish
$FINISH1,1.4,1.023886,119
$GC,1106,0.18,119.5,2945,2133,1786,4094,1.4,11.2,168,1120,5.60,0.00,-4.88,0.000,20486,0.024,0.000,2399,2134,2352,2352,4094,0,0,0,0,0,0,26.08,24.77,26.13,10.17,52.95
$FINISH2,0.3
$STATE,1121,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1121,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,163929
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.29
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.89,39.658
$10V_AH,10.39,40.050
$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,24.175,11.675,62.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.514,277.564,137.127,246.235,80.671,0.000,314.181,0.000,255.432,0.000,0.541,0.000
$DEVICE_MAMPS,55.845,1247.715,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,14287,170
$CAP_FILE_SIZE,27607,0
$CFSIZE,1024409600,950550528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,175710,6146.749,-17355.863,7,0.7,18,7.0,0.0,0.0,11,4.9