version: 66.13
glider: 401
mission: 22
dive: 1348
start: 8 19 117 19 14 59
data:
$ID,401
$MISSION,22
$DIVE,1348
$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,19
$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
$GPS1,190817,190634,6153.1475,-17405.8320,2,0.9,44,6.9,0.0,204.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-36.9
$GPS2,190817,191423,6153.1367,-17405.9004,10,0.9,15,6.9,0.0,0.0,10,4.7
$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,137.1,21787,-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,-487.5,239,1957,1690,4092,0.0,0.0,0,21,9.38,0.00,0.00,0.000,2049,0.086,0.000,1044,1957,1690,1690,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.21,51.73
$GC,25,-1.78,-487.5,1043,1957,1690,4094,0.7,0.0,1,53,7.75,1.17,-12.25,0.000,18948,0.044,1.268,1764,1517,3057,3057,4095,0,0,0,0,0,0,25.94,24.41,25.99,10.21,51.65
$GC,217,-1.78,-487.5,1764,1517,3062,4095,27.1,-16.7,28,227,0.00,1.02,0.00,0.000,1030,0.000,0.025,1764,1958,3062,3062,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.47,51.14
$GC,265,-1.78,-487.5,1764,1959,3063,4094,32.4,-12.0,34,274,0.00,1.05,0.00,0.000,260,0.000,0.043,1764,2362,3063,3063,4095,0,0,0,0,0,0,26.34,26.02,26.34,10.44,49.76
$GC,331,-1.78,-487.5,1764,2362,3065,4095,40.4,-12.0,43,341,0.00,1.00,0.00,0.000,1030,0.000,0.029,1765,1963,3064,3064,4094,0,0,0,0,0,0,26.14,26.11,26.17,10.40,48.26
$GC,378,-1.78,-487.5,1764,1963,3066,4094,46.1,-12.1,49,388,0.00,1.12,0.00,0.000,516,0.000,0.051,1765,1519,3066,3066,4094,0,0,0,0,0,0,26.41,26.08,26.43,10.38,47.00
$GC,440,-1.78,-487.5,1764,1518,3067,4094,53.8,-13.0,57,449,0.00,1.02,0.00,0.000,1030,0.000,0.026,1765,1957,3067,3067,4094,0,0,0,0,0,0,26.22,26.21,26.25,10.38,46.10
$GC,489,-1.78,-487.5,1764,1957,3068,4094,60.0,-12.6,63,502,0.00,1.08,0.00,0.000,260,0.000,0.045,1765,2378,3067,3067,4095,0,0,0,0,0,0,26.47,26.14,26.48,10.36,45.82
$STATE,510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,511,begin apogee
$GC,520,-0.45,0.0,1764,2114,3069,4095,63.5,-13.0,65,556,4.53,0.00,28.52,1.347,10244,0.055,0.000,2184,2113,2484,2484,4094,0,0,0,0,0,0,26.17,25.25,24.17,10.35,45.47
$STATE,557,end apogee,CONTROL_FINISHED_OK
$STATE,557,begin climb
$GC,561,1.78,487.5,2184,2114,2484,4094,66.8,0.0,69,605,7.57,0.00,28.20,1.313,11270,0.031,0.000,2892,2113,1915,1915,4094,0,0,0,0,0,0,25.53,25.68,23.78,10.23,45.62
$GC,644,1.78,487.5,2892,2114,1914,4094,60.6,11.7,79,654,0.00,1.00,0.00,0.000,516,0.000,0.046,2893,1734,1913,1913,4094,0,0,0,0,0,0,25.56,25.28,25.57,10.11,45.07
$GC,769,1.78,487.5,2891,1734,1910,4094,44.4,12.9,97,779,0.00,0.98,0.00,0.000,1030,0.000,0.030,2892,2130,1910,1910,4094,0,0,0,0,0,0,25.74,25.70,25.77,10.08,45.51
$GC,818,1.78,487.5,2892,2129,1908,4094,38.3,13.2,103,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1908,1908,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.08,45.70
$GC,865,1.78,487.5,2892,2129,1907,4094,32.2,12.7,109,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1907,1907,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.08,45.86
$GC,912,1.78,487.5,2892,2129,1906,4094,26.5,11.8,115,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1906,1906,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.07,46.25
$GC,959,1.84,531.1,2892,2129,1905,4094,21.5,9.9,121,969,0.10,0.00,3.72,0.456,10246,0.078,0.000,2910,2129,1864,1864,4094,0,0,0,0,0,0,26.01,25.37,24.77,10.11,47.16
$GC,1008,1.95,600.2,2909,2129,1863,4094,16.9,9.5,127,1019,0.28,0.00,5.32,0.567,10246,0.040,0.000,2943,2129,1783,1783,4094,0,0,0,0,0,0,26.02,25.67,24.82,10.14,49.80
$GC,1058,1.95,600.2,2942,2129,1782,4094,11.7,11.0,133,1067,0.00,1.05,0.00,0.000,516,0.000,0.046,2943,1731,1781,1781,4094,0,0,0,0,0,0,26.22,25.90,26.22,10.15,51.45
$STATE,1147,end climb,FINISH_DEPTH_REACHED
$STATE,1147,begin subsurface finish
$FINISH1,1.4,1.023840,123
$GC,1158,0.18,122.7,2942,2142,1779,4094,1.4,9.8,146,1177,5.60,0.00,-5.00,0.000,20998,0.026,0.000,2398,2151,2340,2340,4095,0,0,0,0,0,0,26.09,25.46,26.13,10.17,52.32
$FINISH2,0.2
$STATE,1178,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1178,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,175847
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.63
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.78,37.956
$10V_AH,10.13,38.736
$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,35.200,12.150,65.775,0.000,0.000,33.541,14.783,223.518,0.000,0.000,16.520,423.811,0.000,120.883,873.774,242.762,0.000,364.591,0.000,361.070,0.000,0.542,0.000
$DEVICE_MAMPS,86.445,1267.605,1347.165,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.375,402.124,318.254,471.944,616.145,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329404
$DATA_FILE_SIZE,14487,148
$CAP_FILE_SIZE,31647,0
$CFSIZE,1024409600,953253888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,489.27,0x236162,0,24
$GPS,190817,191423,6153.137,-17405.900,10,0.9,15,6.9,0.0,0.0,10,4.7