version: 66.13
glider: 401
mission: 22
dive: 1418
start: 8 21 117 0 39 50
data:
$ID,401
$MISSION,22
$DIVE,1418
$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,15
$R_STBD_OVSHOOT,31
$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
$GPS1,210817,001846,6143.8081,-17358.2715,7,0.9,28,7.0,0.6,304.2,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-3.3
$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,9,-1.78,-487.5,2399,1954,2352,4092,0.0,0.0,0,21,6.30,0.00,-2.88,0.000,20482,0.021,0.000,1789,1954,2667,2667,4094,0,0,0,0,0,0,26.05,28.83,26.10,10.33,53.93
$GC,26,-1.78,-487.5,1788,1954,2667,4094,0.2,0.0,1,36,0.00,1.15,-3.65,0.000,16644,0.000,1.247,1788,2379,3055,3055,4095,0,0,0,0,0,0,26.29,24.51,26.30,10.38,53.38
$GC,132,-1.78,-487.5,1787,2379,3057,4095,10.2,-12.3,16,142,0.00,1.12,0.00,0.000,1030,0.000,0.031,1788,1934,3057,3057,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.48,53.22
$GC,180,-1.78,-487.5,1787,1934,3058,4094,14.9,-9.8,22,189,0.00,1.05,0.00,0.000,516,0.000,0.054,1788,1522,3058,3058,4095,0,0,0,0,0,0,26.34,25.99,26.36,10.48,53.34
$GC,262,-1.78,-487.5,1788,1522,3060,4095,23.0,-9.8,33,270,0.00,0.98,0.00,0.000,1030,0.000,0.024,1788,1954,3060,3060,4095,0,0,0,0,0,0,26.20,26.17,26.21,10.49,52.48
$GC,310,-1.78,-487.5,1788,1954,3060,4095,27.3,-8.6,39,318,0.00,1.05,0.00,0.000,260,0.000,0.041,1788,2366,3061,3061,4095,0,0,0,0,0,0,26.43,26.12,26.44,10.45,51.96
$GC,376,-1.78,-487.5,1788,2366,3061,4095,33.5,-9.1,48,385,0.00,1.08,0.00,0.000,1030,0.000,0.031,1788,1935,3062,3062,4094,0,0,0,0,0,0,26.22,26.17,26.23,10.40,50.15
$GC,424,-1.78,-487.5,1787,1935,3062,4094,37.8,-8.8,54,433,0.00,1.05,0.00,0.000,516,0.000,0.055,1788,1522,3062,3062,4095,0,0,0,0,0,0,26.49,26.14,26.50,10.40,49.64
$GC,486,-1.78,-487.5,1788,1522,3063,4095,43.5,-9.2,62,495,0.00,0.88,0.00,0.000,1030,0.000,0.025,1788,1936,3064,3064,4095,0,0,0,0,0,0,26.32,26.33,26.34,10.37,48.93
$GC,535,-1.78,-487.5,1788,1936,3065,4095,48.1,-9.1,68,545,0.00,1.05,0.00,0.000,260,0.000,0.039,1788,2341,3064,3064,4094,0,0,0,0,0,0,26.54,26.22,26.55,10.37,47.79
$GC,617,-1.78,-487.5,1788,2340,3065,4094,55.7,-9.2,79,626,0.00,1.02,0.00,0.000,1030,0.000,0.032,1788,1928,3066,3066,4095,0,0,0,0,0,0,26.31,26.27,26.34,10.35,46.73
$STATE,662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,662,begin apogee
$GC,672,-0.45,0.0,1788,2108,3067,4095,60.3,-9.1,85,707,4.22,0.00,28.17,1.313,10244,0.044,0.000,2187,2108,2484,2484,4094,0,0,0,0,0,0,26.30,25.37,24.31,10.35,47.16
$STATE,708,end apogee,CONTROL_FINISHED_OK
$STATE,708,begin climb
$GC,712,1.78,487.5,2186,2108,2484,4094,63.9,0.0,89,756,7.45,1.20,27.98,1.295,10500,0.029,0.050,2890,2555,1915,1915,4094,0,0,0,0,0,0,25.56,25.50,23.89,10.22,46.73
$GC,935,1.80,499.3,2890,2554,1911,4094,44.5,10.4,120,945,0.00,1.02,2.40,0.218,9222,0.000,0.025,2891,2139,1901,1901,4094,0,0,0,0,0,0,25.79,25.77,24.39,10.08,47.16
$GC,984,1.88,554.3,2890,2139,1899,4094,39.8,9.7,126,995,0.28,0.00,4.72,0.664,10246,0.044,0.000,2926,2135,1838,1838,4094,0,0,0,0,0,0,25.86,25.49,24.49,10.07,47.67
$GC,1034,1.88,554.3,2925,2135,1836,4094,34.5,11.0,132,1044,0.00,1.10,0.00,0.000,516,0.000,0.048,2926,1715,1837,1837,4094,0,0,0,0,0,0,26.09,25.80,26.10,10.06,47.55
$GC,1121,1.88,554.3,2926,1715,1834,4094,24.9,11.9,144,1130,0.00,0.98,0.00,0.000,1030,0.000,0.027,2926,2124,1835,1835,4094,0,0,0,0,0,0,25.98,25.95,26.01,10.06,48.50
$GC,1168,2.08,691.4,2926,2124,1833,4094,20.9,8.5,150,1187,0.52,0.00,8.60,0.716,10246,0.031,0.000,2984,2124,1678,1678,4094,0,0,0,0,0,0,26.05,25.35,24.76,10.11,49.76
$GC,1226,2.08,691.4,2983,2124,1677,4094,15.0,11.3,157,1236,0.00,1.10,0.00,0.000,516,0.000,0.049,2984,1712,1676,1676,4094,0,0,0,0,0,0,26.19,25.85,26.20,10.11,51.69
$GC,1267,2.08,691.4,2983,1711,1676,4094,10.3,10.8,162,1276,0.00,0.90,0.00,0.000,1030,0.000,0.028,2985,2094,1676,1676,4094,0,0,0,0,0,0,26.05,26.00,26.06,10.12,52.83
$GC,1314,2.08,691.4,2984,2094,1674,4094,5.3,10.8,168,1322,0.00,1.23,0.00,0.000,260,0.000,0.051,2985,2551,1675,1675,4094,0,0,0,0,0,0,26.29,25.94,26.29,10.14,52.95
$STATE,1343,end climb,FINISH_DEPTH_REACHED
$STATE,1344,begin subsurface finish
$FINISH1,1.9,1.023901,118
$GC,1355,0.18,118.5,2984,2132,1673,4094,1.9,10.5,172,1374,6.07,1.17,-6.00,0.000,20740,0.026,1.265,2399,2558,2353,2353,4094,0,0,0,0,0,0,26.06,24.50,26.12,10.14,53.03
$FINISH2,0.2
$STATE,1375,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1375,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,230008
$TT8_MAMPS,0.025466,0.247919
$HUMID,53.81
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.89,40.116
$10V_AH,10.14,40.435
$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,24.850,22.200,71.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,487.862,0.000,127.470,724.647,97.185,0.000,388.126,0.000,420.586,0.000,0.542,0.000
$DEVICE_MAMPS,43.605,1264.545,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.581,472.782,374.221,554.849,722.114,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,17797,174
$CAP_FILE_SIZE,32943,0
$CFSIZE,1024409600,949780480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,001846,6143.808,-17358.271,7,0.9,28,7.0,0.6,304.2,11,4.9