version: 66.13
glider: 401
mission: 22
dive: 1420
start: 8 21 117 1 36 54
data:
$ID,401
$MISSION,22
$DIVE,1420
$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,23
$R_STBD_OVSHOOT,24
$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
$GPS1,210817,012550,6143.8462,-17358.6191,5,0.9,37,7.0,0.4,273.7,10,4.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-28.3
$GPS2,210817,013618,6143.9258,-17358.6719,6,0.7,14,7.0,0.6,340.7,11,4.9
$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,153.2,37927,-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,-487.5,238,1968,1661,4092,0.0,0.0,0,21,9.00,0.00,0.00,0.000,2049,0.083,0.000,1016,1968,1661,1661,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.22,52.00
$GC,25,-1.78,-487.5,1015,1967,1661,4094,0.7,0.0,1,52,8.00,1.20,-12.68,0.000,18692,0.040,1.252,1762,2384,3056,3056,4094,0,0,0,0,0,0,25.89,24.34,25.96,10.22,51.10
$GC,165,-1.78,-487.5,1762,2383,3059,4094,12.0,-11.0,20,174,0.00,1.10,0.00,0.000,1030,0.000,0.030,1762,1946,3059,3059,4095,0,0,0,0,0,0,26.01,25.98,26.04,10.52,51.57
$GC,212,-1.78,-487.5,1762,1946,3059,4095,17.4,-10.8,26,221,0.00,1.08,0.00,0.000,516,0.000,0.053,1762,1524,3059,3059,4095,0,0,0,0,0,0,26.30,25.96,26.32,10.52,50.55
$GC,478,-1.78,-487.5,1762,1524,3064,4095,44.2,-9.8,65,488,0.00,0.95,0.00,0.000,1030,0.000,0.024,1762,1955,3064,3064,4095,0,0,0,0,0,0,26.29,26.28,26.29,10.40,47.32
$GC,526,-1.78,-487.5,1762,1955,3065,4095,48.7,-9.3,71,535,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1955,3065,3065,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.38,46.29
$GC,573,-1.78,-487.5,1762,1955,3066,4094,53.0,-8.9,77,581,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1956,3066,3066,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.38,45.39
$GC,619,-1.78,-487.5,1762,1955,3067,4094,57.3,-9.3,83,627,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1955,3067,3067,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.38,45.66
$STATE,648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,648,begin apogee
$GC,657,-0.45,0.0,1762,2124,3067,4094,60.3,-8.9,87,701,4.53,0.00,28.27,1.297,10244,0.052,0.000,2186,2125,2484,2484,4094,0,0,0,0,0,0,26.24,25.34,24.29,10.38,45.19
$STATE,702,end apogee,CONTROL_FINISHED_OK
$STATE,702,begin climb
$GC,706,1.78,487.5,2186,2124,2484,4094,63.7,0.0,92,750,7.50,0.00,27.88,1.277,11270,0.031,0.000,2893,2125,1916,1916,4095,0,0,0,0,0,0,25.64,25.80,23.89,10.24,44.92
$GC,790,1.82,518.1,2892,2124,1915,4095,57.9,10.1,102,800,0.00,0.00,3.60,0.601,8198,0.000,0.000,2893,2125,1880,1880,4094,0,0,0,0,0,0,25.62,24.85,24.12,10.11,44.99
$GC,839,1.98,619.4,2892,2124,1879,4094,53.2,9.0,108,850,0.60,0.00,7.20,0.923,10246,0.031,0.000,2957,2124,1762,1762,4094,0,0,0,0,0,0,25.56,25.20,24.25,10.10,44.60
$GC,889,1.98,619.4,2957,2124,1761,4094,48.0,10.8,114,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2124,1761,1761,4094,0,0,0,0,0,0,25.79,25.82,25.81,10.07,45.58
$GC,937,1.98,619.4,2957,2124,1759,4094,42.6,11.3,120,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2125,1759,1759,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.06,45.58
$GC,985,1.98,619.4,2957,2124,1758,4094,37.0,11.6,126,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2125,1757,1757,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.06,45.58
$GC,1033,1.98,619.4,2957,2124,1757,4094,31.8,10.8,132,1042,0.00,1.15,0.00,0.000,260,0.000,0.051,2957,2551,1756,1756,4093,0,0,0,0,0,0,26.10,25.76,26.11,10.06,46.73
$GC,1146,2.12,718.4,2957,2551,1754,4093,20.7,9.1,148,1165,0.40,1.05,6.65,0.653,11270,0.028,0.027,3000,2124,1646,1646,4094,0,0,0,0,0,0,26.01,25.98,24.75,10.10,48.18
$GC,1204,2.12,718.4,3000,2124,1645,4094,14.7,10.7,155,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2124,1644,1644,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,50.74
$GC,1253,2.12,718.4,3000,2124,1644,4094,9.3,11.0,161,1262,0.00,1.17,0.00,0.000,260,0.000,0.053,3001,2550,1643,1643,4094,0,0,0,0,0,0,26.26,25.91,26.27,10.13,52.08
$GC,1314,2.13,720.1,3000,2550,1642,4094,2.5,10.5,169,1323,0.00,1.02,0.00,0.000,1030,0.000,0.024,3001,2121,1641,1641,4094,0,0,0,0,0,0,26.10,26.08,26.11,10.15,52.20
$STATE,1331,end climb,FINISH_DEPTH_REACHED
$STATE,1331,begin subsurface finish
$FINISH1,0.3,1.023904,118
$GC,1341,0.18,118.2,3000,2115,1641,4094,0.3,9.7,171,1360,6.20,1.08,-6.22,0.000,20996,0.023,1.261,2398,1722,2351,2351,4094,0,0,0,0,0,0,26.10,24.51,26.14,10.15,52.71
$FINISH2,0.2
$STATE,1361,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1361,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,210817,012859
$TT8_MAMPS,0.025466,0.24717
$HUMID,53.89
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.89,40.186
$10V_AH,10.13,40.491
$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,36.225,10.175,73.600,0.000,0.000,51.279,48.062,275.867,0.000,0.000,16.021,479.012,45.275,135.090,1079.214,263.716,0.000,405.588,0.000,419.027,0.000,0.543,0.000
$DEVICE_MAMPS,82.620,1260.720,1297.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.590,470.034,372.045,551.331,718.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,17773,173
$CAP_FILE_SIZE,34492,0
$CFSIZE,1024409600,949682176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210817,013618,6143.926,-17358.672,6,0.7,14,7.0,0.6,340.7,11,4.9