version: 66.13
glider: 401
mission: 22
dive: 1409
start: 8 20 117 20 55 30
data:
$ID,401
$MISSION,22
$DIVE,1409
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,200817,203359,6145.2739,-17356.0527,7,0.7,30,7.0,0.2,195.4,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-2.7
$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,-487.5,2398,1955,2354,4092,0.0,0.0,0,18,6.10,0.00,0.00,0.000,4097,0.024,0.000,1809,1955,2353,2353,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.33,52.00
$GC,22,-1.78,-487.5,1808,1955,2354,4094,0.2,0.0,1,36,0.15,1.17,-6.40,0.000,20740,0.065,1.248,1788,2382,3054,3054,4094,0,0,0,0,0,0,26.08,24.51,26.10,10.33,51.89
$GC,172,-1.78,-487.5,1788,2382,3058,4094,21.0,-17.7,25,178,0.00,1.10,0.00,0.000,1030,0.000,0.031,1789,1943,3059,3059,4095,0,0,0,0,0,0,26.10,26.07,26.13,10.49,52.00
$GC,212,-1.78,-487.5,1788,1942,3060,4095,26.7,-12.8,31,218,0.00,1.08,0.00,0.000,516,0.000,0.053,1788,1521,3060,3060,4094,0,0,0,0,0,0,26.38,26.03,26.39,10.47,52.04
$GC,270,-1.78,-487.5,1788,1520,3061,4094,33.8,-12.2,40,276,0.00,1.02,0.00,0.000,1030,0.000,0.026,1789,1957,3061,3061,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.41,51.06
$GC,310,-1.78,-487.5,1788,1957,3062,4095,38.7,-12.1,46,316,0.00,1.08,0.00,0.000,260,0.000,0.044,1788,2370,3062,3062,4095,0,0,0,0,0,0,26.44,26.12,26.46,10.39,50.63
$GC,374,-1.78,-487.5,1788,2370,3064,4095,46.4,-12.2,56,380,0.00,1.05,0.00,0.000,1030,0.000,0.031,1788,1948,3064,3064,4095,0,0,0,0,0,0,26.22,26.18,26.25,10.37,49.01
$GC,414,-1.78,-487.5,1787,1947,3064,4095,51.4,-12.6,62,420,0.00,1.08,0.00,0.000,516,0.000,0.051,1788,1522,3064,3064,4094,0,0,0,0,0,0,26.50,26.15,26.51,10.36,47.87
$GC,465,-1.78,-487.5,1788,1522,3066,4094,58.4,-13.6,70,472,0.00,1.00,0.00,0.000,1030,0.000,0.027,1788,1950,3065,3065,4094,0,0,0,0,0,0,26.29,26.27,26.32,10.36,47.20
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,486,-0.45,0.0,1788,2141,3066,4095,60.5,-13.6,72,522,4.28,0.00,28.00,1.300,10244,0.054,0.000,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.19,25.32,24.28,10.35,47.67
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,527,1.78,487.5,2186,2141,2484,4094,63.3,0.0,78,569,7.53,0.00,27.75,1.272,11270,0.031,0.000,2891,2141,1917,1917,4094,0,0,0,0,0,0,25.59,25.75,23.89,10.23,46.77
$GC,603,1.78,487.5,2890,2141,1915,4094,57.2,13.0,90,609,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1714,1916,1916,4094,0,0,0,0,0,0,25.56,25.28,25.58,10.10,45.82
$GC,690,1.78,487.5,2890,1713,1913,4094,46.0,12.6,104,697,0.00,1.00,0.00,0.000,1030,0.000,0.028,2891,2119,1913,1913,4094,0,0,0,0,0,0,25.65,25.63,25.67,10.09,46.96
$GC,731,1.78,487.5,2891,2118,1912,4094,40.9,12.6,110,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2119,1912,1912,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.08,46.96
$GC,770,1.78,487.5,2890,2118,1911,4094,35.9,12.8,116,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2119,1911,1911,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.08,46.96
$GC,809,1.78,487.5,2890,2118,1910,4094,30.9,12.2,122,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2119,1909,1909,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.07,47.59
$GC,848,1.78,487.5,2891,2118,1909,4094,26.2,12.0,128,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2119,1908,1908,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.08,48.26
$GC,888,1.82,512.5,2891,2118,1907,4094,22.0,10.2,134,895,0.00,1.08,2.85,0.301,8708,0.000,0.044,2891,1711,1886,1886,4094,0,0,0,0,0,0,26.20,25.70,24.70,10.13,48.42
$GC,977,1.92,579.2,2890,1710,1884,4094,14.0,9.5,148,991,0.35,1.00,5.22,0.529,11270,0.035,0.029,2932,2122,1807,1807,4094,0,0,0,0,0,0,26.05,26.01,24.87,10.17,52.12
$GC,1024,1.92,579.2,2932,2122,1806,4094,8.8,11.6,155,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2123,1806,1806,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.16,53.18
$GC,1063,1.92,579.2,2932,2122,1805,4094,4.3,12.0,161,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2123,1805,1805,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.17,52.71
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1081,begin subsurface finish
$FINISH1,2.0,1.023953,115
$GC,1091,0.17,114.8,2932,2122,1804,4094,2.0,10.7,164,1104,5.65,0.00,-4.75,0.000,20486,0.041,0.000,2397,2123,2357,2357,4095,0,0,0,0,0,0,26.08,24.76,26.13,10.17,52.99
$FINISH2,0.3
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,202655
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.09
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.89,39.845
$10V_AH,10.39,40.199
$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,24.050,13.700,63.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,432.928,260.139,144.351,241.012,86.988,0.000,323.205,0.000,249.887,0.000,0.542,0.000
$DEVICE_MAMPS,65.025,1248.480,1299.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,10863,166
$CAP_FILE_SIZE,29277,0
$CFSIZE,1024409600,950255616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,203359,6145.274,-17356.053,7,0.7,30,7.0,0.2,195.4,11,5.0