version: 66.13
glider: 401
mission: 22
dive: 1412
start: 8 20 117 22 8 39
data:
$ID,401
$MISSION,22
$DIVE,1412
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,200817,214739,6144.6489,-17356.6680,7,0.9,16,7.0,0.0,165.3,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-2.3
$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,-487.5,2398,1950,2352,4092,0.0,0.0,0,21,6.45,0.00,-2.40,0.000,20482,0.026,0.000,1776,1950,2615,2615,4095,0,0,0,0,0,0,26.13,28.83,26.20,10.32,53.15
$GC,26,-1.78,-487.5,1775,1949,2615,4095,0.1,0.0,1,36,0.00,1.17,-4.07,0.000,16644,0.000,1.262,1776,2373,3054,3054,4095,0,0,0,0,0,0,26.39,24.58,26.39,10.38,53.81
$GC,178,-1.78,-487.5,1775,2373,3058,4095,19.7,-18.3,23,187,0.00,1.05,0.00,0.000,1030,0.000,0.031,1776,1950,3058,3058,4095,0,0,0,0,0,0,26.16,26.12,26.21,10.48,52.87
$GC,225,-1.78,-487.5,1775,1950,3059,4095,27.0,-14.6,29,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3060,3060,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.45,52.83
$GC,272,-1.78,-487.5,1775,1950,3060,4094,32.7,-12.4,35,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1951,3060,3060,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.41,52.20
$GC,319,-1.78,-487.5,1775,1950,3061,4094,38.7,-13.1,41,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1951,3062,3062,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.38,50.43
$GC,365,-1.78,-487.5,1775,1950,3061,4095,44.8,-13.3,47,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1951,3063,3063,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,48.97
$GC,412,-1.78,-487.5,1775,1950,3064,4095,51.1,-13.7,53,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.36,48.93
$GC,457,-1.78,-487.5,1775,1950,3065,4095,57.2,-13.1,59,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3065,3065,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.36,48.18
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,490,-0.45,0.0,1775,2140,3065,4095,60.8,-13.2,62,525,4.43,0.00,28.20,1.307,10244,0.055,0.000,2186,2140,2484,2484,4095,0,0,0,0,0,0,26.23,25.34,24.30,10.35,47.20
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,530,1.78,487.5,2186,2140,2484,4095,64.0,0.0,66,574,7.55,0.00,27.90,1.277,11270,0.031,0.000,2893,2140,1919,1919,4094,0,0,0,0,0,0,25.60,25.76,23.88,10.23,46.73
$GC,614,1.78,487.5,2893,2140,1918,4094,57.3,12.1,76,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2140,1918,1918,4094,0,0,0,0,0,0,25.61,25.63,25.62,10.09,46.37
$GC,662,1.78,487.5,2892,2140,1917,4094,51.0,12.6,82,670,0.00,1.12,0.00,0.000,516,0.000,0.045,2893,1713,1916,1916,4094,0,0,0,0,0,0,25.79,25.48,25.80,10.08,45.66
$GC,747,1.78,487.5,2893,1712,1914,4094,39.8,12.8,94,757,0.00,1.00,0.00,0.000,1030,0.000,0.029,2893,2120,1914,1914,4094,0,0,0,0,0,0,25.77,25.74,25.79,10.07,46.10
$GC,795,1.78,487.5,2893,2120,1913,4094,33.9,12.3,100,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2120,1913,1913,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.07,46.81
$GC,842,1.78,487.5,2893,2120,1911,4094,28.1,12.6,106,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2120,1911,1911,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.08,47.16
$GC,888,1.78,487.5,2893,2120,1910,4095,22.5,11.1,112,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2120,1910,1910,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,47.95
$GC,935,1.86,540.3,2893,2120,1909,4094,17.9,9.7,118,944,0.17,0.00,4.35,0.500,10246,0.055,0.000,2919,2120,1853,1853,4094,0,0,0,0,0,0,26.02,25.67,24.79,10.15,50.03
$GC,984,2.22,783.7,2917,2120,1852,4094,14.7,6.9,124,1003,1.08,0.00,14.05,0.734,10246,0.027,0.000,3029,2120,1570,1570,4094,0,0,0,0,0,0,26.06,25.56,24.77,10.16,51.53
$GC,1042,2.22,783.7,3029,2120,1569,4094,8.8,11.1,131,1051,0.00,1.20,0.00,0.000,260,0.000,0.050,3029,2567,1568,1568,4095,0,0,0,0,0,0,26.11,25.77,26.12,10.11,51.77
$GC,1090,2.22,783.7,3029,2566,1566,4095,3.1,12.1,137,1100,0.00,1.10,0.00,0.000,1030,0.000,0.028,3029,2128,1566,1566,4094,0,0,0,0,0,0,25.93,25.89,25.96,10.12,52.12
$STATE,1107,end climb,FINISH_DEPTH_REACHED
$STATE,1107,begin subsurface finish
$FINISH1,0.4,1.023907,118
$GC,1117,0.18,118.0,3029,2120,1566,4094,0.4,12.1,139,1137,6.55,1.12,-6.85,0.000,20996,0.022,1.257,2399,1707,2352,2352,4094,0,0,0,0,0,0,25.98,24.44,26.02,10.12,52.40
$FINISH2,0.2
$STATE,1138,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1138,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,202827
$TT8_MAMPS,0.026215,0.237433
$HUMID,53.07
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.88,39.934
$10V_AH,10.14,40.283
$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,26.225,8.700,74.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,391.878,0.000,126.411,589.107,90.711,0.000,366.751,0.000,346.879,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1262.250,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.069,383.104,303.158,449.208,585.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,14337,141
$CAP_FILE_SIZE,27060,0
$CFSIZE,1024409600,950108160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,214739,6144.649,-17356.668,7,0.9,16,7.0,0.0,165.3,9,4.8