version: 66.13
glider: 401
mission: 22
dive: 1352
start: 8 19 117 20 47 43
data:
$ID,401
$MISSION,22
$DIVE,1352
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,190817,202654,6152.6060,-17405.9160,10,0.8,26,6.9,0.0,201.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-2.6
$GPS2,190817,202654,6152.6060,-17405.9160,10,0.8,26,6.9,0.0,201.7,10,4.9
$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,135.5,21008,-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,-487.5,2397,1944,2347,4092,0.0,0.0,0,21,6.40,0.00,-2.95,0.000,20482,0.022,0.000,1773,1945,2714,2714,4094,0,0,0,0,0,0,26.11,28.83,26.15,10.31,53.38
$GC,26,-1.78,-487.5,1772,1944,2713,4094,0.8,0.0,1,34,0.00,0.00,-2.45,0.000,16390,0.000,0.000,1772,1945,3055,3055,4094,0,0,0,0,0,0,26.33,25.52,26.32,10.38,52.91
$GC,71,-1.78,-487.5,1772,1944,3056,4094,6.6,-16.2,7,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3057,3057,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.46,52.91
$GC,116,-1.78,-487.5,1772,1945,3059,4095,14.5,-17.5,13,125,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1945,3058,3058,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.46,52.79
$GC,163,-1.78,-487.5,1772,1945,3060,4095,22.3,-17.2,19,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1945,3060,3060,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.47,52.99
$GC,209,-1.78,-487.5,1772,1944,3061,4095,29.7,-14.6,25,218,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1944,3061,3061,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.41,51.77
$GC,255,-1.78,-487.5,1772,1945,3062,4095,35.4,-11.8,31,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3062,3062,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.38,51.06
$GC,302,-1.78,-487.5,1771,1945,3063,4094,41.1,-12.4,37,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3063,3063,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.37,49.44
$GC,348,-1.78,-487.5,1772,1945,3064,4095,47.0,-12.9,43,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1945,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.36,48.46
$GC,394,-1.78,-487.5,1772,1945,3065,4094,53.0,-13.0,49,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1944,3066,3066,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.34,47.71
$GC,439,-1.78,-487.5,1772,1945,3066,4095,58.8,-13.0,55,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3067,3067,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.34,47.83
$STATE,456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,456,begin apogee
$GC,465,-0.45,0.0,1772,2153,3067,4094,61.4,-13.2,57,501,4.45,0.00,28.40,1.326,10246,0.056,0.000,2186,2153,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.22,10.33,47.40
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,506,1.78,487.5,2186,2153,2483,4094,64.5,0.0,61,550,7.55,0.00,27.98,1.294,10502,0.031,0.000,2893,2153,1917,1917,4094,0,0,0,0,0,0,25.56,24.51,23.81,10.21,46.53
$GC,589,1.78,487.5,2892,2153,1917,4094,57.9,12.6,71,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2153,1916,1916,4094,0,0,0,0,0,0,25.58,25.59,25.58,10.08,45.62
$GC,637,1.78,487.5,2892,2153,1915,4094,51.6,13.3,77,647,0.00,1.15,0.00,0.000,516,0.000,0.044,2893,1720,1915,1915,4094,0,0,0,0,0,0,25.77,25.47,25.77,10.07,45.58
$GC,718,1.78,487.5,2892,1719,1912,4094,40.9,13.1,88,728,0.00,1.02,0.00,0.000,1030,0.000,0.031,2893,2133,1912,1912,4094,0,0,0,0,0,0,25.72,25.70,25.76,10.05,46.18
$GC,767,1.78,487.5,2893,2133,1911,4094,34.6,13.1,94,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1911,1911,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.05,46.53
$GC,815,1.78,487.5,2893,2133,1910,4094,28.2,13.0,100,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1910,1910,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.05,46.69
$GC,863,1.78,489.6,2893,2133,1908,4095,23.0,10.5,106,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1908,1908,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.08,47.24
$GC,911,1.94,595.6,2893,2132,1907,4094,18.8,9.0,112,922,0.43,0.00,7.07,0.662,10246,0.034,0.000,2940,2133,1788,1788,4094,0,0,0,0,0,0,26.01,25.63,24.78,10.13,49.17
$GC,961,1.94,595.6,2940,2132,1787,4094,13.4,11.6,118,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2133,1787,1787,4095,0,0,0,0,0,0,26.18,26.20,26.20,10.12,50.90
$GC,1009,1.94,595.6,2940,2133,1785,4095,7.8,11.8,124,1018,0.00,1.10,0.00,0.000,516,0.000,0.045,2940,1716,1786,1786,4094,0,0,0,0,0,0,26.23,25.89,26.25,10.14,51.57
$STATE,1059,end climb,FINISH_DEPTH_REACHED
$STATE,1059,begin subsurface finish
$FINISH1,1.9,1.023831,123
$GC,1070,0.18,123.3,2940,2138,1784,4094,1.9,10.2,131,1088,5.65,0.00,-4.97,0.000,20486,0.035,0.000,2402,2142,2343,2343,4095,0,0,0,0,0,0,26.05,25.44,26.10,10.15,52.32
$FINISH2,0.2
$STATE,1089,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,190943
$TT8_MAMPS,0.026215,0.266644
$HUMID,53.15
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.81,38.065
$10V_AH,10.10,38.825
$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,24.475,5.350,63.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.702,0.000,125.896,555.461,90.292,0.000,364.464,0.000,324.587,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,45.135,1325.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.559,361.320,285.939,423.944,553.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,14298,133
$CAP_FILE_SIZE,26391,0
$CFSIZE,1024409600,953057280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,202654,6152.606,-17405.916,10,0.8,26,6.9,0.0,201.7,10,4.9