version: 66.13
glider: 401
mission: 22
dive: 1349
start: 8 19 117 19 36 26
data:
$ID,401
$MISSION,22
$DIVE,1349
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,190817,191423,6153.1367,-17405.9004,10,0.9,15,6.9,0.0,0.0,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-3.7
$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,-487.5,2398,1966,2339,4091,0.0,0.0,0,18,6.35,0.00,0.00,0.000,4097,0.025,0.000,1784,1966,2339,2339,4095,0,0,0,0,0,0,26.31,28.83,28.83,10.31,52.59
$GC,22,-1.78,-487.5,1783,1966,2339,4095,0.1,0.0,1,35,0.00,1.17,-6.65,0.000,16900,0.000,1.270,1784,1524,3056,3056,4095,0,0,0,0,0,0,26.29,24.53,26.30,10.31,52.59
$GC,231,-1.78,-487.5,1783,1524,3062,4095,27.9,-12.7,35,238,0.00,1.00,0.00,0.000,1030,0.000,0.026,1784,1952,3061,3061,4094,0,0,0,0,0,0,26.17,26.15,26.19,10.43,52.71
$GC,271,-1.78,-487.5,1782,1952,3062,4094,32.5,-11.6,41,278,0.00,1.08,0.00,0.000,260,0.000,0.044,1783,2363,3062,3062,4095,0,0,0,0,0,0,26.41,26.09,26.42,10.40,51.33
$GC,335,-1.78,-487.5,1783,2364,3064,4095,39.9,-11.6,51,342,0.00,1.02,0.00,0.000,1030,0.000,0.031,1783,1952,3064,3064,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.37,50.43
$GC,375,-1.78,-487.5,1782,1951,3064,4094,44.6,-12.1,57,382,0.00,1.08,0.00,0.000,516,0.000,0.052,1783,1526,3064,3064,4095,0,0,0,0,0,0,26.46,26.13,26.48,10.36,49.17
$GC,445,-1.78,-487.5,1783,1527,3066,4095,53.5,-12.8,68,452,0.00,0.98,0.00,0.000,1030,0.000,0.027,1783,1948,3066,3066,4094,0,0,0,0,0,0,26.28,26.25,26.30,10.34,47.79
$GC,485,-1.78,-487.5,1783,1948,3067,4094,58.5,-12.4,74,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1949,3067,3067,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.34,48.07
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,505,-0.45,0.0,1783,2139,3068,4094,60.3,-12.5,76,541,4.32,0.00,28.20,1.308,10244,0.054,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.20,25.31,24.25,10.33,47.83
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,546,1.78,487.5,2186,2139,2483,4094,63.1,0.0,82,587,7.50,0.00,27.83,1.278,11270,0.031,0.000,2890,2139,1916,1916,4094,0,0,0,0,0,0,25.58,25.74,23.84,10.21,47.20
$GC,621,1.78,487.5,2890,2138,1915,4094,56.9,12.2,94,627,0.00,1.12,0.00,0.000,516,0.000,0.044,2890,1720,1915,1915,4094,0,0,0,0,0,0,25.54,25.26,25.56,10.08,46.10
$GC,727,1.78,487.5,2890,1719,1912,4094,43.2,13.0,111,734,0.00,1.02,0.00,0.000,1030,0.000,0.030,2890,2132,1912,1912,4094,0,0,0,0,0,0,25.68,25.65,25.71,10.07,46.88
$GC,767,1.78,487.5,2890,2131,1911,4094,37.9,12.8,117,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2132,1911,1911,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.07,47.67
$GC,806,1.78,487.5,2890,2132,1910,4094,33.0,12.9,123,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2132,1910,1910,4094,0,0,0,0,0,0,26.06,26.06,26.06,10.06,47.08
$GC,845,1.78,487.5,2890,2131,1908,4094,28.2,12.3,129,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2132,1908,1908,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.05,47.32
$GC,884,1.78,487.5,2890,2131,1907,4094,23.5,12.3,135,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2132,1907,1907,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.07,48.03
$GC,923,1.99,631.1,2890,2131,1907,4094,20.2,8.4,141,937,0.65,0.00,8.77,0.731,10246,0.032,0.000,2962,2132,1748,1748,4094,0,0,0,0,0,0,25.98,25.58,24.73,10.11,49.25
$GC,970,1.99,631.1,2961,2131,1747,4094,15.6,10.6,148,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2132,1747,1747,4094,0,0,0,0,0,0,26.12,26.14,26.13,10.11,50.98
$GC,1009,1.99,631.1,2961,2132,1746,4094,10.9,12.0,154,1015,0.00,1.10,0.00,0.000,516,0.000,0.047,2962,1717,1746,1746,4094,0,0,0,0,0,0,26.17,25.85,26.19,10.13,51.69
$STATE,1087,end climb,FINISH_DEPTH_REACHED
$STATE,1087,begin subsurface finish
$FINISH1,1.4,1.023837,123
$GC,1098,0.18,122.9,2962,2153,1743,4094,1.4,11.1,167,1112,5.80,0.00,-5.05,0.000,20998,0.022,0.000,2399,2161,2346,2346,4094,0,0,0,0,0,0,26.06,24.82,26.09,10.14,53.70
$FINISH2,0.5
$STATE,1113,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1113,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,175847
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.85
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.84,37.978
$10V_AH,10.38,38.746
$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,24.625,11.550,64.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.814,275.864,138.222,244.824,77.842,0.000,314.461,0.000,253.983,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1269.900,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,10756,169
$CAP_FILE_SIZE,27234,0
$CFSIZE,1024409600,953204736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,191423,6153.137,-17405.900,10,0.9,15,6.9,0.0,0.0,10,4.7