version: 66.13
glider: 401
mission: 22
dive: 1331
start: 8 19 117 12 4 8
data:
$ID,401
$MISSION,22
$DIVE,1331
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,190817,114233,6154.4824,-17409.7285,6,0.9,28,6.9,0.2,223.8,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.7
$GPS2,190817,114233,6154.4824,-17409.7285,6,0.9,28,6.9,0.2,223.8,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,134.3,25807,-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,-487.5,2403,1946,2342,4092,0.0,0.0,0,18,6.32,0.00,0.00,0.000,4097,0.024,0.000,1790,1946,2342,2342,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.31,53.03
$GC,22,-1.78,-487.5,1790,1946,2342,4094,0.1,0.0,1,35,0.00,1.12,-6.68,0.000,16900,0.000,1.272,1790,1521,3054,3054,4094,0,0,0,0,0,0,26.29,24.56,26.30,10.31,52.28
$GC,231,-1.78,-487.5,1790,1521,3060,4094,29.0,-12.4,35,238,0.00,1.02,0.00,0.000,1030,0.000,0.027,1790,1956,3060,3060,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.41,51.73
$GC,271,-1.78,-487.5,1789,1955,3061,4094,33.5,-11.3,41,278,0.00,1.08,0.00,0.000,260,0.000,0.045,1790,2367,3061,3061,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.38,50.66
$GC,329,-1.78,-487.5,1790,2367,3062,4095,40.2,-11.7,50,336,0.00,1.02,0.00,0.000,1030,0.000,0.030,1790,1958,3062,3062,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.37,49.44
$GC,369,-1.78,-487.5,1789,1957,3063,4095,44.9,-12.1,56,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1958,3063,3063,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.36,48.50
$GC,408,-1.78,-487.5,1790,1957,3064,4094,49.6,-12.5,62,414,0.00,1.10,0.00,0.000,516,0.000,0.051,1790,1523,3064,3064,4095,0,0,0,0,0,0,26.48,26.15,26.49,10.35,48.11
$GC,472,-1.78,-487.5,1790,1522,3066,4095,57.8,-12.7,72,478,0.00,1.00,0.00,0.000,1030,0.000,0.027,1790,1950,3066,3066,4094,0,0,0,0,0,0,26.30,26.27,26.32,10.34,47.51
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,499,-0.45,0.0,1791,2140,3066,4095,60.5,-12.6,75,535,4.22,0.00,28.15,1.310,10244,0.053,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.25,10.33,47.36
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,539,1.78,487.5,2184,2140,2484,4094,63.3,0.0,81,582,7.50,1.12,27.92,1.281,10756,0.031,0.042,2894,1710,1916,1916,4094,0,0,0,0,0,0,25.51,25.47,23.83,10.20,46.92
$GC,648,1.78,487.5,2893,1709,1914,4094,53.4,12.9,98,655,0.00,1.05,0.00,0.000,1030,0.000,0.028,2894,2130,1913,1913,4094,0,0,0,0,0,0,25.48,25.44,25.50,10.07,46.49
$GC,688,1.78,487.5,2893,2130,1913,4094,48.0,12.9,104,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2130,1913,1913,4094,0,0,0,0,0,0,25.82,25.83,25.82,10.07,46.73
$GC,727,1.78,487.5,2893,2130,1912,4094,42.8,12.8,110,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2130,1911,1911,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.06,47.04
$GC,766,1.78,487.5,2893,2130,1910,4094,37.7,12.9,116,773,0.00,1.10,0.00,0.000,516,0.000,0.044,2894,1716,1910,1910,4095,0,0,0,0,0,0,25.99,25.68,26.00,10.06,46.57
$GC,842,1.78,487.5,2893,1716,1908,4095,27.7,12.9,128,849,0.00,1.02,0.00,0.000,1030,0.000,0.030,2894,2131,1908,1908,4094,0,0,0,0,0,0,25.88,25.84,25.90,10.05,46.85
$GC,882,1.78,487.5,2893,2131,1907,4094,22.9,12.0,134,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1907,1907,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.06,47.51
$GC,921,1.82,518.5,2893,2131,1906,4094,18.8,10.1,140,929,0.00,1.10,3.08,0.337,8708,0.000,0.045,2894,1713,1879,1879,4095,0,0,0,0,0,0,26.20,25.74,24.77,10.11,48.42
$GC,1056,1.91,574.2,2893,1713,1876,4095,6.7,9.7,161,1069,0.35,0.98,4.55,0.443,11270,0.035,0.029,2935,2116,1814,1814,4094,0,0,0,0,0,0,26.08,26.06,25.00,10.16,52.83
$STATE,1099,end climb,FINISH_DEPTH_REACHED
$STATE,1099,begin subsurface finish
$FINISH1,1.6,1.023825,124
$GC,1109,0.19,123.7,2934,2116,1813,4094,1.6,10.6,168,1122,5.55,0.00,-4.75,0.000,20486,0.027,0.000,2400,2116,2347,2347,4094,0,0,0,0,0,0,26.08,24.84,26.13,10.16,52.91
$FINISH2,0.2
$STATE,1123,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,102535
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.62
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.83,37.441
$10V_AH,10.37,38.306
$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,23.950,13.625,63.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,440.647,282.606,133.914,245.987,80.150,0.000,308.706,0.000,255.511,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1272.195,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,14253,170
$CAP_FILE_SIZE,27283,0
$CFSIZE,1024409600,954089472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,114233,6154.482,-17409.729,6,0.9,28,6.9,0.2,223.8,10,4.8