version: 66.13
glider: 401
mission: 22
dive: 1417
start: 8 21 117 0 19 22
data:
$ID,401
$MISSION,22
$DIVE,1417
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,210817,000937,6143.7617,-17358.1582,5,0.8,15,7.0,0.5,254.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-34.7
$GPS2,210817,001846,6143.8081,-17358.2715,7,0.9,28,7.0,0.6,304.2,11,4.9
$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,153.6,37603,-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,-487.5,231,1923,1842,4092,0.0,0.0,0,18,6.18,0.00,0.00,0.000,2049,0.089,0.000,757,1924,1842,1842,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.25,52.00
$GC,22,-1.78,-487.5,757,1924,1842,4094,0.7,0.0,1,53,10.95,1.27,-11.15,0.000,18692,0.051,1.253,1764,2377,3057,3057,4094,0,0,0,0,0,0,25.93,24.38,25.99,10.26,52.12
$GC,190,-1.78,-487.5,1763,2378,3060,4094,18.0,-19.5,28,197,0.00,1.02,0.00,0.000,1030,0.000,0.028,1764,1971,3060,3060,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.52,50.63
$GC,230,-1.78,-487.5,1764,1971,3061,4094,25.0,-17.8,34,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1972,3061,3061,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.51,50.66
$GC,269,-1.78,-487.5,1764,1972,3063,4095,30.1,-12.6,40,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1972,3062,3062,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.46,49.80
$GC,308,-1.78,-487.5,1764,1972,3063,4095,35.2,-12.8,46,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1972,3063,3063,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.43,48.66
$GC,348,-1.78,-487.5,1764,1972,3064,4094,40.4,-13.3,52,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1972,3064,3064,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.41,47.71
$GC,387,-1.78,-487.5,1764,1971,3065,4095,45.7,-13.3,58,393,0.00,1.15,0.00,0.000,516,0.000,0.050,1764,1520,3065,3065,4095,0,0,0,0,0,0,26.42,26.06,26.43,10.39,47.44
$GC,457,-1.78,-487.5,1763,1520,3067,4095,55.6,-14.1,69,463,0.00,1.08,0.00,0.000,1030,0.000,0.026,1764,1970,3067,3067,4095,0,0,0,0,0,0,26.24,26.20,26.26,10.38,45.94
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,496,-0.45,0.0,1764,2145,3068,4095,60.4,-14.1,74,532,4.53,0.00,28.25,1.304,10244,0.055,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.14,25.27,24.22,10.38,45.94
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,537,1.78,487.5,2185,2145,2484,4094,63.5,0.0,80,579,7.53,0.00,27.85,1.275,11270,0.030,0.000,2893,2145,1915,1915,4094,0,0,0,0,0,0,25.56,25.70,23.84,10.25,45.15
$GC,613,1.78,487.5,2892,2145,1915,4094,57.4,11.6,92,619,0.00,1.17,0.00,0.000,516,0.000,0.044,2893,1707,1915,1915,4094,0,0,0,0,0,0,25.53,25.26,25.55,10.12,44.64
$GC,730,1.78,487.5,2893,1707,1911,4094,42.3,12.8,111,737,0.00,1.02,0.00,0.000,1030,0.000,0.028,2893,2123,1911,1911,4094,0,0,0,0,0,0,25.70,25.67,25.73,10.10,45.15
$GC,771,1.78,487.5,2893,2122,1910,4094,37.2,12.6,117,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1910,1910,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.09,45.55
$GC,810,1.78,487.5,2893,2122,1909,4094,32.3,12.2,123,816,0.00,1.10,0.00,0.000,516,0.000,0.045,2894,1708,1909,1909,4094,0,0,0,0,0,0,26.08,25.75,26.09,10.09,46.10
$GC,874,1.78,487.5,2893,1708,1907,4094,24.6,12.3,133,880,0.00,1.02,0.00,0.000,1030,0.000,0.028,2893,2127,1907,1907,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.10,46.61
$GC,914,1.93,591.1,2892,2127,1906,4094,20.9,9.0,139,927,0.45,0.00,6.80,0.666,10246,0.033,0.000,2944,2127,1794,1794,4094,0,0,0,0,0,0,25.99,25.60,24.73,10.14,48.07
$GC,960,1.93,591.1,2942,2127,1793,4094,15.9,11.1,146,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2127,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.15,51.02
$GC,999,1.93,591.1,2943,2127,1791,4094,11.5,11.0,152,1006,0.00,1.10,0.00,0.000,516,0.000,0.045,2943,1709,1791,1791,4094,0,0,0,0,0,0,26.22,25.88,26.23,10.16,51.77
$GC,1075,1.93,591.1,2943,1709,1789,4094,2.9,11.2,164,1082,0.00,1.00,0.00,0.000,1030,0.000,0.028,2943,2124,1789,1789,4093,0,0,0,0,0,0,26.06,26.03,26.08,10.17,52.99
$STATE,1087,end climb,FINISH_DEPTH_REACHED
$STATE,1087,begin subsurface finish
$FINISH1,1.2,1.023911,118
$GC,1097,0.18,117.8,2943,2123,1788,4094,1.2,11.1,166,1117,5.60,1.25,-4.95,0.000,20740,0.023,1.281,2399,2555,2352,2352,4094,0,0,0,0,0,0,26.08,24.49,26.12,10.18,52.79
$FINISH2,0.3
$STATE,1118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,230008
$TT8_MAMPS,0.025466,0.134071
$HUMID,53.26
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.84,40.092
$10V_AH,10.33,40.396
$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,35.225,12.600,62.900,0.000,0.000,22.241,23.075,279.325,0.000,0.000,29.821,438.422,262.243,156.935,562.661,258.778,0.000,344.961,0.000,255.741,0.000,0.542,0.000
$DEVICE_MAMPS,88.740,1281.375,1304.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,14294,169
$CAP_FILE_SIZE,32771,0
$CFSIZE,1024409600,949846016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210817,001846,6143.808,-17358.271,7,0.9,28,7.0,0.6,304.2,11,4.9