version: 66.13
glider: 401
mission: 22
dive: 1339
start: 8 19 117 15 22 7
data:
$ID,401
$MISSION,22
$DIVE,1339
$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,13
$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
$GPS1,190817,151227,6153.9976,-17407.4336,5,0.7,12,6.9,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-40.7
$GPS2,190817,152130,6154.0146,-17407.4492,8,0.7,16,6.9,0.0,21.1,11,4.7
$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,136.8,23902,-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,-487.5,229,1957,1800,4092,0.0,0.0,0,17,5.72,0.00,0.00,0.000,2049,0.100,0.000,709,1955,1800,1800,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.22,51.49
$GC,21,-1.78,-487.5,709,1954,1800,4094,0.8,0.0,1,52,11.35,1.23,-11.73,0.000,18948,0.046,1.278,1764,1512,3054,3054,4094,0,0,0,0,0,0,25.91,24.38,25.98,10.23,51.10
$GC,248,-1.78,-487.5,1763,1512,3059,4094,28.5,-12.7,38,255,0.00,1.05,0.00,0.000,1030,0.000,0.025,1764,1958,3060,3060,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.44,49.68
$GC,288,-1.78,-487.5,1763,1958,3060,4094,33.5,-12.4,44,295,0.00,1.08,0.00,0.000,260,0.000,0.044,1764,2370,3061,3061,4095,0,0,0,0,0,0,26.35,26.04,26.36,10.41,49.80
$GC,370,-1.78,-487.5,1763,2369,3062,4095,43.7,-12.7,57,377,0.00,1.05,0.00,0.000,1030,0.000,0.028,1764,1951,3062,3062,4095,0,0,0,0,0,0,26.17,26.14,26.19,10.38,47.28
$GC,410,-1.78,-487.5,1763,1951,3063,4095,48.6,-12.4,63,416,0.00,1.10,0.00,0.000,516,0.000,0.050,1764,1517,3063,3063,4094,0,0,0,0,0,0,26.43,26.10,26.44,10.38,46.96
$GC,474,-1.78,-487.5,1763,1518,3065,4094,57.2,-13.7,73,480,0.00,1.02,0.00,0.000,1030,0.000,0.026,1764,1955,3065,3065,4095,0,0,0,0,0,0,26.25,26.22,26.26,10.36,46.02
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,501,-0.45,0.0,1764,2136,3066,4095,60.2,-14.0,76,537,4.53,0.00,28.15,1.312,10244,0.054,0.000,2185,2137,2484,2484,4094,0,0,0,0,0,0,26.15,25.26,24.18,10.36,45.70
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,538,begin climb
$GC,542,1.78,487.5,2185,2137,2484,4094,63.2,0.0,82,584,7.47,1.12,27.92,1.284,10756,0.031,0.041,2895,1706,1916,1916,4094,0,0,0,0,0,0,25.48,25.44,23.80,10.23,45.74
$GC,644,1.78,487.5,2894,1706,1914,4094,54.1,12.8,98,651,0.00,1.08,0.00,0.000,1030,0.000,0.029,2895,2134,1914,1914,4095,0,0,0,0,0,0,25.44,25.41,25.46,10.10,44.88
$GC,684,1.78,487.5,2894,2133,1913,4095,48.5,13.1,104,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2134,1913,1913,4094,0,0,0,0,0,0,25.78,25.80,25.79,10.09,45.70
$GC,723,1.78,487.5,2894,2133,1911,4094,43.3,13.5,110,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2134,1911,1911,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.08,45.11
$GC,762,1.78,487.5,2894,2133,1911,4094,37.9,14.2,116,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2134,1910,1910,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.08,45.51
$GC,801,1.78,487.5,2894,2133,1909,4094,32.6,13.9,122,808,0.00,1.12,0.00,0.000,516,0.000,0.044,2895,1711,1909,1909,4094,0,0,0,0,0,0,26.03,25.72,26.05,10.07,46.53
$GC,865,1.78,487.5,2894,1710,1907,4094,24.7,11.9,132,872,0.00,1.05,0.00,0.000,1030,0.000,0.029,2895,2137,1907,1907,4094,0,0,0,0,0,0,25.89,25.86,25.92,10.08,46.88
$GC,905,1.89,563.4,2894,2136,1906,4094,20.7,9.4,138,918,0.28,0.00,5.50,0.609,10502,0.044,0.000,2931,2137,1824,1824,4094,0,0,0,0,0,0,25.96,25.33,24.74,10.13,47.79
$GC,951,1.89,563.4,2930,2136,1823,4094,16.0,10.6,145,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2137,1823,1823,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.14,50.86
$GC,990,1.89,563.4,2929,2136,1822,4094,12.0,10.8,151,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2136,1822,1822,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.15,51.37
$GC,1029,1.89,563.4,2930,2136,1821,4094,7.8,10.5,157,1036,0.00,1.12,0.00,0.000,516,0.000,0.044,2930,1709,1821,1821,4094,0,0,0,0,0,0,26.25,25.92,26.26,10.16,51.53
$STATE,1084,end climb,FINISH_DEPTH_REACHED
$STATE,1084,begin subsurface finish
$FINISH1,1.9,1.023842,123
$GC,1095,0.18,122.6,2930,2147,1819,4094,1.9,10.2,166,1109,5.72,0.00,-4.72,0.000,20998,0.053,0.000,2401,2148,2346,2346,4094,0,0,0,0,0,0,26.04,24.82,26.10,10.17,52.20
$FINISH2,0.1
$STATE,1110,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,140211
$TT8_MAMPS,0.025466,0.133322
$HUMID,52.83
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.80,37.673
$10V_AH,10.33,38.501
$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,35.075,13.575,61.575,0.000,0.000,26.343,25.207,281.729,0.000,0.000,18.018,439.395,266.913,149.779,564.748,245.580,0.000,333.499,0.000,254.166,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1278.315,1311.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329352
$DATA_FILE_SIZE,10883,168
$CAP_FILE_SIZE,32866,0
$CFSIZE,1024409600,953679872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190817,152130,6154.015,-17407.449,8,0.7,16,6.9,0.0,21.1,11,4.7