version: 66.13
glider: 401
mission: 22
dive: 1408
start: 8 20 117 20 34 35
data:
$ID,401
$MISSION,22
$DIVE,1408
$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,40
$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
$GPS1,200817,202047,6145.3091,-17355.9727,5,0.7,19,7.0,0.7,353.4,11,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-37.1
$GPS2,200817,203359,6145.2739,-17356.0527,7,0.7,30,7.0,0.2,195.4,11,5.0
$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,157.6,39605,-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,-487.5,240,1932,1788,4092,0.0,0.0,0,21,9.05,0.00,0.00,0.000,2049,0.094,0.000,1005,1933,1788,1788,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.25,51.14
$GC,25,-1.78,-487.5,1004,1933,1788,4094,0.8,0.0,1,52,8.20,1.23,-11.52,0.000,18692,0.044,1.248,1765,2382,3050,3050,4094,0,0,0,0,0,0,25.91,24.35,25.97,10.26,50.90
$GC,197,-1.78,-487.5,1765,2384,3054,4094,19.7,-19.0,25,207,0.00,1.05,0.00,0.000,1030,0.000,0.028,1765,1962,3054,3054,4094,0,0,0,0,0,0,26.04,26.04,26.05,10.53,50.15
$GC,245,-1.78,-487.5,1765,1962,3055,4094,27.2,-14.3,31,254,0.00,1.12,0.00,0.000,516,0.000,0.049,1765,1515,3055,3055,4095,0,0,0,0,0,0,26.32,25.98,26.33,10.50,50.00
$GC,305,-1.78,-487.5,1765,1515,3057,4095,35.1,-13.3,39,314,0.00,1.00,0.00,0.000,1030,0.000,0.025,1765,1945,3058,3058,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.44,48.81
$GC,352,-1.78,-487.5,1764,1945,3058,4095,41.1,-12.7,45,361,0.00,1.10,0.00,0.000,260,0.000,0.044,1765,2373,3058,3058,4095,0,0,0,0,0,0,26.41,26.06,26.41,10.42,47.16
$GC,432,-1.78,-487.5,1765,2372,3060,4095,51.8,-13.6,56,441,0.00,1.08,0.00,0.000,1030,0.000,0.030,1765,1938,3060,3060,4095,0,0,0,0,0,0,26.20,26.15,26.25,10.39,45.58
$GC,479,-1.78,-487.5,1765,1937,3061,4095,58.2,-13.8,62,489,0.00,1.02,0.00,0.000,516,0.000,0.050,1765,1527,3062,3062,4095,0,0,0,0,0,0,26.48,26.13,26.49,10.38,45.11
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,507,-0.45,0.0,1765,2134,3062,4094,61.2,-13.8,64,542,4.53,0.00,28.15,1.310,10244,0.056,0.000,2185,2134,2484,2484,4094,0,0,0,0,0,0,26.15,25.28,24.22,10.38,45.15
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,547,1.78,487.5,2184,2133,2484,4094,64.9,0.0,68,592,7.57,0.00,27.90,1.287,11270,0.032,0.000,2893,2134,1919,1919,4094,0,0,0,0,0,0,25.56,25.71,23.89,10.26,44.84
$GC,631,1.78,487.5,2892,2133,1918,4094,58.3,12.6,78,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1918,1918,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.13,43.62
$GC,679,1.78,487.5,2892,2133,1917,4094,52.0,13.0,84,689,0.00,1.10,0.00,0.000,516,0.000,0.043,2893,1717,1916,1916,4094,0,0,0,0,0,0,25.78,25.48,25.79,10.12,43.85
$GC,752,1.78,487.5,2893,1717,1914,4094,42.4,12.7,94,761,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2133,1914,1914,4094,0,0,0,0,0,0,25.75,25.70,25.74,10.11,44.76
$GC,799,1.78,487.5,2893,2133,1913,4094,36.5,13.1,100,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1913,1913,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.10,44.84
$GC,846,1.78,487.5,2893,2132,1911,4094,30.6,12.6,106,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1911,1911,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.10,45.47
$GC,894,1.78,487.5,2892,2133,1910,4094,24.8,12.0,112,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1910,1910,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,45.70
$GC,942,1.82,512.7,2893,2133,1909,4094,19.6,10.2,118,951,0.00,1.05,2.97,0.316,8708,0.000,0.042,2893,1716,1885,1885,4095,0,0,0,0,0,0,26.24,25.38,24.75,10.17,48.22
$GC,1035,1.94,595.7,2893,1715,1882,4095,10.9,9.3,131,1046,0.43,1.00,5.90,0.544,11270,0.030,0.030,2942,2127,1788,1788,4094,0,0,0,0,0,0,26.06,26.03,24.91,10.19,51.14
$GC,1085,1.94,595.7,2941,2127,1788,4094,5.7,11.2,137,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2127,1787,1787,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.19,51.26
$STATE,1115,end climb,FINISH_DEPTH_REACHED
$STATE,1115,begin subsurface finish
$FINISH1,1.5,1.023955,115
$GC,1125,0.17,114.7,2941,2127,1786,4094,1.5,12.0,141,1144,5.60,0.00,-4.97,0.000,20486,0.023,0.000,2398,2129,2354,2354,4094,0,0,0,0,0,0,26.06,25.44,26.11,10.19,51.49
$FINISH2,0.2
$STATE,1145,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1145,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,202655
$TT8_MAMPS,0.025466,0.252413
$HUMID,52.00
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.89,39.824
$10V_AH,10.13,40.188
$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,35.375,13.300,64.925,0.000,0.000,71.650,64.141,330.627,0.000,0.000,31.689,408.013,90.058,124.070,1060.895,267.331,0.000,363.956,0.000,350.447,0.000,0.543,0.000
$DEVICE_MAMPS,94.095,1248.480,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.592,388.536,307.405,455.799,592.642,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329212
$DATA_FILE_SIZE,14234,143
$CAP_FILE_SIZE,34041,0
$CFSIZE,1024409600,950288384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200817,203359,6145.274,-17356.053,7,0.7,30,7.0,0.2,195.4,11,5.0