version: 66.13
glider: 401
mission: 22
dive: 1241
start: 8 18 117 0 2 41
data:
$ID,401
$MISSION,22
$DIVE,1241
$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,51
$R_STBD_OVSHOOT,43
$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
$GPS1,170817,234054,6205.3203,-17430.2363,6,0.8,17,6.7,0.6,249.0,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.9
$GPS2,170817,234054,6205.3203,-17430.2363,6,0.8,17,6.7,0.6,249.0,11,4.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$TGT_LATLONG,6156.580,-17421.840
$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,149.0,17763,-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,-487.5,2403,1973,2335,4092,0.0,0.0,0,18,6.55,0.00,-0.08,0.000,20482,0.024,0.000,1773,1974,2343,2343,4095,0,0,0,0,0,0,26.03,28.83,26.08,10.30,52.55
$GC,23,-1.78,-487.5,1772,1973,2343,4095,0.1,0.0,1,35,0.00,1.05,-6.80,0.000,16644,0.000,1.259,1772,2363,3055,3055,4095,0,0,0,0,0,0,26.25,24.59,26.27,10.30,52.63
$GC,207,-1.78,-487.5,1772,2363,3060,4095,26.6,-13.4,31,214,0.00,0.98,0.00,0.000,1030,0.000,0.030,1772,1979,3061,3061,4095,0,0,0,0,0,0,26.13,26.09,26.15,10.41,52.52
$GC,247,-1.78,-487.5,1772,1979,3062,4095,31.6,-12.5,37,254,0.00,1.17,0.00,0.000,516,0.000,0.050,1772,1518,3061,3061,4095,0,0,0,0,0,0,26.37,26.06,26.39,10.39,51.22
$GC,335,-1.78,-487.5,1772,1518,3064,4095,43.2,-13.2,51,341,0.00,0.95,0.00,0.000,1030,0.000,0.027,1772,1929,3064,3064,4094,0,0,0,0,0,0,26.22,26.19,26.23,10.36,49.40
$GC,375,-1.78,-487.5,1772,1928,3064,4094,48.0,-12.0,57,381,0.00,1.15,0.00,0.000,260,0.000,0.046,1772,2367,3065,3065,4095,0,0,0,0,0,0,26.44,26.14,26.46,10.35,48.42
$GC,438,-1.78,-487.5,1771,2367,3066,4095,55.8,-12.5,67,445,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1935,3066,3066,4095,0,0,0,0,0,0,26.23,26.19,26.26,10.34,48.26
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,477,-0.45,0.0,1771,2136,3067,4095,60.2,-13.2,72,513,4.47,0.00,28.27,1.306,10244,0.054,0.000,2186,2136,2483,2483,4095,0,0,0,0,0,0,26.19,25.29,24.22,10.33,48.30
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,518,1.78,487.5,2186,2136,2483,4095,62.9,0.0,78,559,7.53,0.00,27.90,1.274,11270,0.032,0.000,2890,2136,1916,1916,4094,0,0,0,0,0,0,25.56,25.71,23.82,10.20,47.87
$GC,592,1.78,487.5,2889,2136,1915,4094,56.5,12.1,90,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2136,1915,1915,4094,0,0,0,0,0,0,25.53,25.55,25.54,10.08,45.62
$GC,631,1.78,487.5,2889,2136,1914,4094,51.4,12.6,96,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2136,1914,1914,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.07,46.10
$GC,670,1.78,487.5,2889,2136,1913,4094,46.1,13.6,102,677,0.00,1.12,0.00,0.000,516,0.000,0.045,2890,1717,1913,1913,4094,0,0,0,0,0,0,25.82,25.52,25.83,10.06,46.45
$GC,728,1.78,487.5,2889,1717,1911,4094,38.1,13.4,111,735,0.00,1.02,0.00,0.000,1030,0.000,0.030,2890,2131,1911,1911,4094,0,0,0,0,0,0,25.73,25.70,25.75,10.05,46.53
$GC,768,1.78,487.5,2889,2130,1910,4094,33.1,13.0,117,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2130,1910,1910,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.05,46.69
$GC,806,1.78,487.5,2889,2130,1909,4094,28.2,12.7,123,813,0.00,1.10,0.00,0.000,516,0.000,0.045,2889,1716,1908,1908,4094,0,0,0,0,0,0,26.08,25.77,26.09,10.05,47.71
$GC,888,1.90,568.8,2889,1715,1907,4094,19.5,9.3,136,902,0.35,1.00,5.75,0.613,11270,0.034,0.029,2930,2125,1818,1818,4095,0,0,0,0,0,0,25.96,25.93,24.79,10.09,48.30
$GC,936,2.06,672.7,2930,2125,1818,4095,15.4,9.0,143,948,0.45,0.00,6.97,0.631,10246,0.032,0.000,2982,2125,1698,1698,4094,0,0,0,0,0,0,25.96,25.61,24.82,10.11,50.27
$GC,981,2.06,672.7,2982,2124,1698,4094,10.3,12.0,150,988,0.00,1.08,0.00,0.000,516,0.000,0.046,2982,1718,1698,1698,4094,0,0,0,0,0,0,26.12,25.82,26.13,10.10,50.94
$STATE,1048,end climb,FINISH_DEPTH_REACHED
$STATE,1048,begin subsurface finish
$FINISH1,1.9,1.023787,126
$GC,1058,0.19,126.4,2983,2141,1695,4094,1.9,11.8,161,1077,6.22,0.00,-5.55,0.000,20486,0.047,0.000,2401,2143,2342,2342,4094,0,0,0,0,0,0,26.00,25.44,26.03,10.12,53.50
$FINISH2,0.5
$STATE,1078,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1078,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,222535
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.81
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.82,34.817
$10V_AH,10.37,36.182
$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,25.575,13.825,68.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,423.834,264.055,142.137,237.931,70.027,0.000,315.202,0.000,247.029,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1259.190,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,10804,164
$CAP_FILE_SIZE,27361,0
$CFSIZE,1024409600,958513152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,234054,6205.320,-17430.236,6,0.8,17,6.7,0.6,249.0,11,4.5