version: 66.13
glider: 401
mission: 22
dive: 1340
start: 8 19 117 15 42 24
data:
$ID,401
$MISSION,22
$DIVE,1340
$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,36
$R_STBD_OVSHOOT,27
$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
$GPS1,190817,152130,6154.0146,-17407.4492,8,0.7,16,6.9,0.0,21.1,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-2.1
$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,-487.5,2400,1939,2346,4092,0.0,0.0,0,21,6.47,0.00,-2.72,0.000,20482,0.024,0.000,1775,1940,2637,2637,4095,0,0,0,0,0,0,26.12,28.83,26.17,10.31,53.30
$GC,26,-1.78,-487.5,1774,1939,2638,4095,0.1,0.0,1,36,0.00,1.10,-3.97,0.000,16900,0.000,1.282,1774,1530,3054,3054,4095,0,0,0,0,0,0,26.36,24.58,26.37,10.37,53.62
$GC,220,-1.78,-487.5,1774,1529,3060,4095,25.4,-8.0,29,229,0.00,0.98,0.00,0.000,1030,0.000,0.025,1774,1953,3060,3060,4094,0,0,0,0,0,0,26.20,26.17,26.25,10.45,52.59
$GC,268,-1.78,-487.5,1773,1953,3060,4094,29.4,-8.6,35,277,0.00,1.10,0.00,0.000,516,0.000,0.053,1774,1528,3060,3060,4095,0,0,0,0,0,0,26.44,26.10,26.46,10.40,51.73
$GC,349,-1.78,-487.5,1774,1528,3062,4095,36.5,-8.8,46,359,0.00,0.90,0.00,0.000,1030,0.000,0.026,1774,1938,3061,3061,4094,0,0,0,0,0,0,26.29,26.26,26.33,10.38,50.03
$GC,398,-1.78,-487.5,1773,1937,3062,4094,40.8,-8.8,52,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1938,3063,3063,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.36,48.93
$GC,446,-1.78,-487.5,1773,1937,3063,4095,45.2,-9.4,58,455,0.00,1.05,0.00,0.000,516,0.000,0.052,1774,1533,3063,3063,4095,0,0,0,0,0,0,26.53,26.19,26.54,10.35,48.11
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,589,begin apogee
$GC,599,-0.45,0.0,1774,2117,3066,4094,60.0,-10.4,79,634,4.40,0.00,28.27,1.315,10244,0.051,0.000,2187,2117,2484,2484,4094,0,0,0,0,0,0,26.27,25.36,24.29,10.33,47.16
$STATE,635,end apogee,CONTROL_FINISHED_OK
$STATE,635,begin climb
$GC,639,1.78,487.5,2187,2117,2484,4094,63.6,0.0,83,684,7.50,1.20,28.00,1.300,10500,0.029,0.052,2893,2562,1917,1917,4094,0,0,0,0,0,0,25.55,25.49,23.86,10.20,47.28
$GC,715,1.78,487.5,2892,2561,1917,4094,59.5,10.7,92,725,0.00,1.05,0.00,0.000,1030,0.000,0.026,2893,2145,1917,1917,4094,0,0,0,0,0,0,25.36,25.34,25.39,10.08,45.94
$GC,763,1.78,487.5,2892,2145,1915,4094,54.1,12.1,98,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2145,1915,1915,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.08,46.10
$GC,811,1.78,487.5,2892,2145,1914,4094,48.1,12.8,104,820,0.00,1.10,0.00,0.000,516,0.000,0.046,2893,1724,1914,1914,4094,0,0,0,0,0,0,25.89,25.58,25.89,10.07,46.22
$GC,892,1.78,487.5,2892,1723,1912,4094,38.0,12.5,115,901,0.00,1.00,0.00,0.000,1030,0.000,0.031,2893,2130,1911,1911,4094,0,0,0,0,0,0,25.82,25.78,25.85,10.06,47.00
$GC,940,1.78,487.5,2893,2129,1911,4094,32.1,12.1,121,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2130,1911,1911,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.05,47.99
$GC,988,1.78,488.5,2892,2130,1909,4094,26.9,10.5,127,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2130,1909,1909,4095,0,0,0,0,0,0,26.17,26.19,26.18,10.05,47.83
$GC,1036,1.82,517.1,2892,2129,1908,4095,22.0,10.1,133,1045,0.00,0.00,3.20,0.376,8198,0.000,0.000,2893,2130,1879,1879,4094,0,0,0,0,0,0,26.22,25.38,24.77,10.09,48.38
$GC,1085,2.12,716.7,2892,2129,1878,4094,18.0,7.6,139,1103,1.00,0.00,11.82,0.754,10246,0.027,0.000,2993,2130,1649,1649,4094,0,0,0,0,0,0,26.04,25.58,24.76,10.13,51.02
$GC,1143,2.16,740.9,2993,2129,1647,4094,12.5,10.2,146,1153,0.10,1.08,3.05,0.310,10756,0.081,0.044,3009,1713,1620,1620,4094,0,0,0,0,0,0,25.91,25.37,24.81,10.10,52.00
$STATE,1233,end climb,FINISH_DEPTH_REACHED
$STATE,1233,begin subsurface finish
$FINISH1,2.0,1.023839,123
$GC,1247,0.18,122.7,3009,2147,1617,4094,2.0,11.1,159,1266,6.32,0.00,-6.50,0.000,20998,0.024,0.000,2399,2156,2348,2348,4094,0,0,0,0,0,0,26.01,24.76,26.06,10.12,53.18
$FINISH2,0.2
$STATE,1267,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1267,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,140211
$TT8_MAMPS,0.026215,0.248668
$HUMID,53.70
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,2.90
$XPDR_PINGS,-1
$24V_AH,23.86,37.697
$10V_AH,10.14,38.536
$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,25.800,13.575,74.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,452.038,0.000,116.750,673.226,85.274,0.000,356.170,0.000,390.193,0.000,1.035,0.000
$DEVICE_MAMPS,81.090,1282.140,1315.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.743,437.421,346.210,513.360,670.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,14287,161
$CAP_FILE_SIZE,28203,0
$CFSIZE,1024409600,953647104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,152130,6154.015,-17407.449,8,0.7,16,6.9,0.0,21.1,11,4.7