version: 66.13
glider: 401
mission: 22
dive: 1415
start: 8 20 117 23 27 16
data:
$ID,401
$MISSION,22
$DIVE,1415
$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,18
$R_STBD_OVSHOOT,26
$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
$GPS1,200817,230529,6144.1372,-17357.5059,7,0.8,22,7.0,0.0,264.2,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-3.2
$GPS2,200817,230529,6144.1372,-17357.5059,7,0.8,22,7.0,0.0,264.2,11,5.0
$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,154.8,37961,-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,-487.5,2398,1952,2350,4092,0.0,0.0,0,18,6.05,0.00,0.00,0.000,4097,0.024,0.000,1810,1952,2350,2350,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.33,51.96
$GC,22,-1.78,-487.5,1810,1951,2350,4094,0.1,0.0,1,36,0.15,1.17,-6.45,0.000,20740,0.065,1.249,1790,2382,3056,3056,4095,0,0,0,0,0,0,26.11,24.55,26.13,10.33,52.00
$GC,156,-1.78,-487.5,1790,2383,3059,4095,16.1,-16.8,22,163,0.00,1.10,0.00,0.000,1030,0.000,0.031,1790,1942,3059,3059,4095,0,0,0,0,0,0,26.12,26.08,26.15,10.49,52.52
$GC,196,-1.78,-487.5,1789,1942,3061,4095,23.0,-16.5,28,203,0.00,1.05,0.00,0.000,516,0.000,0.051,1790,1526,3060,3060,4095,0,0,0,0,0,0,26.40,26.06,26.41,10.49,52.40
$GC,260,-1.78,-487.5,1790,1526,3062,4095,31.4,-11.9,38,267,0.00,1.00,0.00,0.000,1030,0.000,0.027,1790,1953,3062,3062,4095,0,0,0,0,0,0,26.22,26.19,26.23,10.43,51.29
$GC,300,-1.78,-487.5,1790,1954,3063,4095,36.1,-11.9,44,307,0.00,1.08,0.00,0.000,260,0.000,0.045,1789,2371,3063,3063,4094,0,0,0,0,0,0,26.46,26.13,26.47,10.40,50.66
$GC,376,-1.78,-487.5,1790,2370,3065,4094,45.2,-11.7,56,383,0.00,1.05,0.00,0.000,1030,0.000,0.031,1790,1949,3065,3065,4094,0,0,0,0,0,0,26.25,26.20,26.27,10.38,49.33
$GC,416,-1.78,-487.5,1789,1948,3066,4094,50.0,-12.1,62,423,0.00,1.08,0.00,0.000,516,0.000,0.052,1790,1523,3066,3066,4095,0,0,0,0,0,0,26.51,26.17,26.53,10.37,48.54
$GC,492,-1.78,-487.5,1789,1522,3067,4095,59.6,-12.6,74,498,0.00,1.00,0.00,0.000,1030,0.000,0.027,1790,1953,3067,3067,4095,0,0,0,0,0,0,26.33,26.31,26.34,10.36,47.67
$STATE,503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,503,begin apogee
$GC,513,-0.45,0.0,1790,2136,3068,4094,61.5,-12.4,76,549,4.22,0.00,28.17,1.310,10244,0.054,0.000,2184,2136,2484,2484,4094,0,0,0,0,0,0,26.22,25.34,24.29,10.35,47.28
$STATE,550,end apogee,CONTROL_FINISHED_OK
$STATE,550,begin climb
$GC,554,1.78,487.5,2184,2137,2484,4094,64.2,0.0,82,595,7.50,0.00,27.90,1.279,11270,0.031,0.000,2890,2136,1915,1915,4094,0,0,0,0,0,0,25.60,25.76,23.88,10.22,47.08
$GC,629,1.78,487.5,2890,2136,1914,4094,57.9,11.9,94,636,0.00,1.12,0.00,0.000,516,0.000,0.043,2891,1718,1914,1914,4094,0,0,0,0,0,0,25.56,25.29,25.57,10.09,45.47
$GC,741,1.78,487.5,2890,1718,1911,4094,43.1,12.9,112,748,0.00,1.00,0.00,0.000,1030,0.000,0.028,2891,2124,1911,1911,4094,0,0,0,0,0,0,25.72,25.68,25.74,10.08,46.18
$GC,781,1.78,487.5,2890,2123,1910,4094,37.9,13.3,118,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1910,1910,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.07,46.69
$GC,821,1.78,487.5,2890,2123,1908,4094,32.8,12.9,124,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1908,1908,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.07,47.32
$GC,860,1.78,487.5,2890,2124,1907,4094,27.9,12.2,130,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1907,1907,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.07,47.20
$GC,899,1.78,487.5,2890,2123,1906,4094,23.2,12.0,136,905,0.00,1.08,0.00,0.000,516,0.000,0.044,2891,1715,1906,1906,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.09,47.99
$GC,981,1.87,550.3,2890,1715,1904,4094,15.2,9.6,149,994,0.25,0.98,4.62,0.505,11270,0.041,0.030,2924,2116,1843,1843,4094,0,0,0,0,0,0,26.03,26.01,24.85,10.16,51.77
$GC,1028,1.92,582.4,2924,2116,1841,4094,10.5,10.1,156,1035,0.00,0.00,3.50,0.363,8198,0.000,0.000,2924,2116,1803,1803,4094,0,0,0,0,0,0,26.27,25.70,24.89,10.16,52.20
$GC,1069,1.92,582.4,2924,2116,1803,4094,6.1,10.7,162,1075,0.00,1.08,0.00,0.000,516,0.000,0.047,2924,1711,1802,1802,4094,0,0,0,0,0,0,26.27,25.94,26.29,10.16,52.59
$STATE,1105,end climb,FINISH_DEPTH_REACHED
$STATE,1105,begin subsurface finish
$FINISH1,1.8,1.023914,118
$GC,1116,0.18,117.5,2924,2140,1801,4095,1.8,10.6,168,1130,5.55,0.00,-4.70,0.000,20486,0.041,0.000,2395,2140,2354,2354,4094,0,0,0,0,0,0,26.08,24.79,26.13,10.17,53.81
$FINISH2,0.3
$STATE,1131,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1131,begin surface
$IRIDIUM_FIX,6135.22,17820.51,200817,225805
$TT8_MAMPS,0.026215,0.107856
$HUMID,54.41
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.30
$XPDR_PINGS,1
$24V_AH,23.88,40.028
$10V_AH,10.39,40.346
$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,23.725,15.775,64.200,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,443.334,275.325,141.162,246.602,84.695,0.000,320.470,0.000,255.515,0.000,0.542,0.000
$DEVICE_MAMPS,65.025,1249.245,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330620
$DATA_FILE_SIZE,14331,170
$CAP_FILE_SIZE,29241,0
$CFSIZE,1024409600,949960704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,230529,6144.137,-17357.506,7,0.8,22,7.0,0.0,264.2,11,5.0