version: 66.13
glider: 401
mission: 22
dive: 1411
start: 8 20 117 21 48 15
data:
$ID,401
$MISSION,22
$DIVE,1411
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,200817,213822,6144.6538,-17356.5840,5,1.1,50,7.0,0.4,352.1,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-40.3
$GPS2,200817,214739,6144.6489,-17356.6680,7,0.9,16,7.0,0.0,165.3,9,4.8
$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,156.3,38643,-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,-487.5,229,1948,1809,4092,0.0,0.0,0,18,6.20,0.00,0.00,0.000,2049,0.099,0.000,749,1949,1809,1809,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.25,51.96
$GC,22,-1.78,-487.5,748,1948,1809,4094,1.0,0.0,1,53,10.95,1.20,-11.38,0.000,18692,0.045,1.253,1762,2367,3057,3057,4094,0,0,0,0,0,0,25.88,24.36,25.96,10.25,51.10
$GC,190,-1.78,-487.5,1762,2367,3061,4094,22.5,-19.3,28,196,0.00,1.05,0.00,0.000,1030,0.000,0.030,1762,1947,3062,3062,4095,0,0,0,0,0,0,26.01,25.97,26.04,10.52,50.82
$GC,230,-1.78,-487.5,1761,1946,3062,4095,28.4,-12.6,34,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3062,3062,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.48,49.96
$GC,269,-1.78,-487.5,1762,1946,3063,4095,33.4,-12.4,40,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3063,3063,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.44,49.44
$GC,308,-1.78,-487.5,1761,1946,3064,4095,38.7,-13.9,46,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1947,3064,3064,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.42,48.58
$GC,347,-1.78,-487.5,1762,1946,3066,4094,43.8,-13.5,52,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3066,3066,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.40,47.00
$GC,386,-1.78,-487.5,1762,1946,3066,4095,49.1,-13.0,58,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3066,3066,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.39,46.53
$GC,425,-1.78,-487.5,1761,1946,3067,4095,54.4,-13.1,64,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3068,3068,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.38,46.57
$GC,465,-1.78,-487.5,1762,1947,3068,4095,59.9,-13.5,70,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3068,3068,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.38,45.70
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,485,-0.45,0.0,1762,2141,3069,4095,61.9,-13.9,72,521,4.55,0.00,28.40,1.316,10244,0.055,0.000,2185,2141,2483,2483,4094,0,0,0,0,0,0,26.14,25.26,24.20,10.38,45.66
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$GC,526,1.78,487.5,2185,2141,2484,4094,65.0,0.0,78,567,7.53,0.00,27.83,1.287,11270,0.030,0.000,2891,2140,1915,1915,4094,0,0,0,0,0,0,25.54,25.69,23.84,10.25,45.43
$GC,601,1.78,487.5,2890,2140,1914,4094,58.7,12.1,90,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2141,1915,1915,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.12,44.68
$GC,640,1.78,487.5,2890,2140,1914,4094,53.7,13.0,96,647,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1716,1914,1914,4094,0,0,0,0,0,0,25.71,25.41,25.72,10.11,44.52
$GC,734,1.78,487.5,2891,1715,1911,4094,41.7,12.4,111,741,0.00,1.00,0.00,0.000,1030,0.000,0.028,2891,2122,1911,1911,4094,0,0,0,0,0,0,25.74,25.70,25.76,10.10,45.51
$GC,774,1.78,487.5,2890,2122,1910,4094,36.8,12.7,117,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2122,1910,1910,4094,0,0,0,0,0,0,26.03,26.06,26.05,10.09,45.62
$GC,813,1.78,487.5,2890,2122,1908,4094,31.9,12.5,123,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2121,1908,1908,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.09,45.70
$GC,852,1.78,487.5,2891,2122,1907,4095,27.1,12.2,129,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2122,1907,1907,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.09,46.65
$GC,892,1.78,487.5,2891,2122,1906,4094,22.3,11.7,135,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2122,1906,1906,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.13,47.12
$GC,931,1.87,551.9,2890,2122,1905,4094,18.5,9.6,141,945,0.25,1.05,4.80,0.538,10756,0.047,0.046,2925,1717,1840,1840,4094,0,0,0,0,0,0,26.02,25.72,24.79,10.16,49.52
$GC,1026,1.89,560.9,2924,1717,1837,4094,8.7,10.4,156,1034,0.00,0.98,2.28,0.119,9222,0.000,0.027,2925,2125,1828,1828,4094,0,0,0,0,0,0,26.06,26.03,24.89,10.18,52.48
$GC,1067,1.89,560.9,2924,2124,1827,4094,4.4,10.6,162,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2125,1827,1827,4094,0,0,0,0,0,0,26.31,26.33,26.32,10.18,52.91
$STATE,1091,end climb,FINISH_DEPTH_REACHED
$STATE,1091,begin subsurface finish
$FINISH1,1.4,1.023918,117
$GC,1101,0.18,117.2,2925,2124,1826,4095,1.4,11.2,166,1115,5.45,0.00,-4.57,0.000,20486,0.024,0.000,2399,2125,2352,2352,4095,0,0,0,0,0,0,26.08,24.77,26.14,10.19,53.22
$FINISH2,0.2
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1116,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,202827
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.30
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.84,39.910
$10V_AH,10.28,40.251
$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,34.925,6.875,63.300,0.000,0.000,40.017,20.266,286.392,0.000,0.000,17.780,436.024,254.404,160.625,569.452,263.756,0.000,350.856,0.000,254.226,0.000,0.542,0.000
$DEVICE_MAMPS,98.685,1253.070,1315.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.226,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,10801,168
$CAP_FILE_SIZE,33417,0
$CFSIZE,1024409600,950140928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200817,214739,6144.649,-17356.668,7,0.9,16,7.0,0.0,165.3,9,4.8