version: 66.13
glider: 401
mission: 22
dive: 1342
start: 8 19 117 16 41 30
data:
$ID,401
$MISSION,22
$DIVE,1342
$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,21
$R_STBD_OVSHOOT,30
$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
$GPS1,190817,162952,6153.9312,-17406.6230,5,0.9,50,6.9,0.0,294.2,10,7.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-30.8
$GPS2,190817,164054,6153.9385,-17406.6543,10,1.1,55,6.9,0.4,81.8,8,3.4
$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,137.9,23379,-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,-487.5,230,1953,1567,4092,0.0,0.0,0,21,9.32,0.00,0.00,0.000,2049,0.076,0.000,1045,1953,1567,1567,4095,0,0,0,0,0,0,26.22,28.83,28.83,10.19,51.45
$GC,25,-1.78,-487.5,1045,1953,1567,4095,0.6,0.0,1,53,7.80,1.23,-13.73,0.000,18948,0.050,1.276,1764,1520,3057,3057,4095,0,0,0,0,0,0,25.94,24.41,26.01,10.19,51.61
$GC,291,-1.78,-487.5,1763,1520,3063,4095,32.9,-12.3,39,300,0.00,1.00,0.00,0.000,1030,0.000,0.024,1764,1953,3063,3063,4095,0,0,0,0,0,0,26.17,26.14,26.17,10.41,48.93
$GC,339,-1.78,-487.5,1763,1953,3064,4095,38.8,-11.9,45,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3063,3063,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.39,47.79
$GC,387,-1.78,-487.5,1763,1953,3065,4095,44.7,-12.6,51,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3066,3066,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.38,46.45
$GC,435,-1.78,-487.5,1763,1953,3066,4094,50.7,-12.6,57,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3066,3066,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.37,45.70
$GC,482,-1.78,-487.5,1763,1953,3068,4094,56.6,-12.9,63,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3067,3067,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.37,45.51
$STATE,505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,505,begin apogee
$GC,514,-0.45,0.0,1764,2135,3068,4094,60.3,-12.9,66,557,4.53,0.00,28.45,1.311,10244,0.055,0.000,2186,2135,2483,2483,4095,0,0,0,0,0,0,26.18,24.97,24.20,10.36,45.47
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,562,1.78,487.5,2185,2135,2483,4095,63.7,0.0,71,606,7.53,0.00,28.08,1.285,11270,0.031,0.000,2891,2135,1916,1916,4095,0,0,0,0,0,0,25.58,25.75,23.82,10.24,44.99
$GC,645,1.78,487.5,2890,2134,1915,4095,57.4,12.0,81,654,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1709,1914,1914,4094,0,0,0,0,0,0,25.58,25.29,25.58,10.10,43.89
$GC,718,1.78,487.5,2891,1708,1913,4094,47.9,12.6,91,727,0.00,1.05,0.00,0.000,1030,0.000,0.030,2892,2130,1912,1912,4094,0,0,0,0,0,0,25.63,25.58,25.64,10.09,45.15
$GC,765,1.78,487.5,2891,2130,1911,4094,42.0,12.5,97,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2130,1911,1911,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.08,44.92
$GC,813,1.78,487.5,2891,2129,1910,4094,36.2,12.2,103,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2130,1910,1910,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.08,45.15
$GC,861,1.78,487.5,2891,2130,1908,4094,30.3,12.3,109,870,0.00,1.10,0.00,0.000,516,0.000,0.044,2892,1709,1908,1908,4094,0,0,0,0,0,0,26.10,25.81,26.12,10.08,45.78
$GC,914,1.78,487.5,2891,1708,1907,4094,23.9,11.8,116,924,0.00,1.02,0.00,0.000,1030,0.000,0.029,2891,2128,1907,1907,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.08,46.25
$GC,962,1.88,554.3,2891,2128,1906,4094,19.1,9.5,122,972,0.22,0.00,4.90,0.556,10246,0.050,0.000,2922,2128,1837,1837,4094,0,0,0,0,0,0,25.99,25.65,24.79,10.13,47.44
$GC,1011,1.88,554.3,2921,2128,1836,4094,14.1,10.7,128,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2128,1836,1836,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,49.80
$GC,1058,1.95,604.0,2920,2127,1835,4094,9.3,9.8,134,1068,0.20,0.00,4.28,0.438,10246,0.048,0.000,2947,2128,1778,1778,4095,0,0,0,0,0,0,26.05,25.72,24.92,10.16,51.18
$GC,1108,1.95,604.0,2947,2127,1777,4095,3.8,11.6,140,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2128,1776,1776,4095,0,0,0,0,0,0,26.27,26.28,26.27,10.16,51.65
$STATE,1124,end climb,FINISH_DEPTH_REACHED
$STATE,1124,begin subsurface finish
$FINISH1,1.7,1.023849,122
$GC,1134,0.18,122.0,2947,2127,1776,4095,1.7,10.2,142,1153,5.72,1.17,-5.05,0.000,20996,0.032,1.268,2399,1706,2342,2342,4094,0,0,0,0,0,0,26.06,24.53,26.10,10.17,51.73
$FINISH2,0.2
$STATE,1154,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1154,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,163254
$TT8_MAMPS,0.025466,0.244174
$HUMID,52.44
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.82,37.765
$10V_AH,10.14,38.589
$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,35.325,8.150,65.700,0.000,0.000,48.918,34.586,279.804,0.000,0.000,56.965,412.312,45.113,126.446,995.131,250.735,0.000,372.112,0.000,352.271,0.000,0.542,0.000
$DEVICE_MAMPS,76.500,1276.020,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.336,391.291,309.617,459.195,598.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,14462,144
$CAP_FILE_SIZE,32437,0
$CFSIZE,1024409600,953548800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190817,164054,6153.938,-17406.654,10,1.1,55,6.9,0.4,81.8,8,3.4