version: 66.13
glider: 401
mission: 22
dive: 1355
start: 8 19 117 22 3 56
data:
$ID,401
$MISSION,22
$DIVE,1355
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,190817,214311,6152.1626,-17406.1660,10,0.9,55,6.9,0.3,308.3,8,3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-3.4
$GPS2,190817,214311,6152.1626,-17406.1660,10,0.9,55,6.9,0.3,308.3,8,3.0
$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,133.6,20503,-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,-487.5,2402,1954,2344,4092,0.0,0.0,0,18,6.30,0.00,0.00,0.000,4097,0.028,0.000,1794,1954,2343,2343,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.32,52.63
$GC,22,-1.78,-487.5,1793,1954,2343,4094,0.1,0.0,1,35,0.00,1.15,-6.53,0.000,16900,0.000,1.266,1794,1519,3054,3054,4094,0,0,0,0,0,0,26.28,24.53,26.29,10.32,51.73
$GC,267,-1.78,-487.5,1793,1518,3060,4094,28.0,-14.3,41,274,0.00,1.02,0.00,0.000,1030,0.000,0.027,1793,1954,3059,3059,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.45,51.57
$GC,308,-1.78,-487.5,1793,1954,3060,4095,32.7,-11.0,47,314,0.00,1.12,0.00,0.000,516,0.000,0.049,1793,1520,3060,3060,4094,0,0,0,0,0,0,26.43,26.10,26.44,10.41,50.98
$GC,482,-1.78,-487.5,1793,1520,3065,4094,53.2,-12.3,75,489,0.00,1.00,0.00,0.000,1030,0.000,0.025,1793,1952,3064,3064,4094,0,0,0,0,0,0,26.31,26.28,26.32,10.35,47.28
$GC,522,-1.78,-487.5,1792,1951,3065,4094,58.5,-12.4,81,528,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1952,3065,3065,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.35,47.44
$STATE,533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,533,begin apogee
$GC,542,-0.45,0.0,1793,2143,3066,4094,60.3,-12.1,83,578,4.22,0.00,28.10,1.306,10244,0.052,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.22,25.33,24.27,10.34,47.67
$STATE,579,end apogee,CONTROL_FINISHED_OK
$STATE,579,begin climb
$GC,583,1.78,487.5,2186,2143,2484,4094,62.8,0.0,89,624,7.50,0.00,27.90,1.273,11270,0.032,0.000,2890,2143,1917,1917,4094,0,0,0,0,0,0,25.60,25.75,23.87,10.22,46.77
$GC,658,1.78,487.5,2889,2142,1916,4094,56.7,12.3,101,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2143,1916,1916,4094,0,0,0,0,0,0,25.56,25.57,25.56,10.08,46.25
$GC,697,1.78,487.5,2889,2142,1916,4094,51.5,13.2,107,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2143,1915,1915,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.08,45.70
$GC,736,1.78,487.5,2889,2142,1913,4094,46.4,13.3,113,742,0.00,1.15,0.00,0.000,516,0.000,0.044,2890,1708,1914,1914,4094,0,0,0,0,0,0,25.84,25.54,25.86,10.08,46.06
$GC,812,1.78,487.5,2889,1708,1912,4094,36.7,12.8,125,819,0.00,1.05,0.00,0.000,1030,0.000,0.029,2890,2133,1911,1911,4094,0,0,0,0,0,0,25.79,25.75,25.81,10.07,46.29
$GC,852,1.78,487.5,2889,2132,1911,4094,31.6,12.7,131,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2132,1910,1910,4094,0,0,0,0,0,0,26.08,26.08,26.09,10.06,47.08
$GC,891,1.78,487.5,2889,2132,1909,4094,27.0,11.8,137,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2133,1909,1909,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.06,46.92
$GC,930,1.90,568.7,2890,2132,1908,4094,23.1,9.3,143,943,0.35,0.00,5.78,0.641,10246,0.039,0.000,2932,2133,1820,1820,4094,0,0,0,0,0,0,25.96,25.32,24.72,10.09,47.95
$GC,977,2.01,641.4,2931,2133,1819,4094,19.0,9.5,150,990,0.28,0.00,5.50,0.591,10246,0.042,0.000,2969,2133,1735,1735,4094,0,0,0,0,0,0,25.94,25.32,24.75,10.11,49.44
$GC,1023,2.01,641.4,2968,2133,1734,4094,13.7,12.0,157,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2133,1734,1734,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.12,50.82
$GC,1062,2.01,641.4,2969,2132,1733,4094,9.1,12.1,163,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2133,1733,1733,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.13,52.24
$GC,1101,2.01,641.4,2969,2132,1731,4094,4.3,12.9,169,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2133,1731,1731,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,52.24
$STATE,1118,end climb,FINISH_DEPTH_REACHED
$STATE,1118,begin subsurface finish
$FINISH1,1.8,1.023822,124
$GC,1128,0.19,124.0,2969,2132,1730,4094,1.8,12.1,172,1147,6.03,1.17,-5.35,0.000,20996,0.042,1.271,2404,1717,2347,2347,4094,0,0,0,0,0,0,26.03,24.49,26.06,10.15,52.52
$FINISH2,0.2
$STATE,1149,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1149,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,213309
$TT8_MAMPS,0.025466,0.107856
$HUMID,53.18
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.87,38.159
$10V_AH,10.39,38.888
$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,24.675,8.625,67.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.148,284.858,144.647,253.683,81.394,0.000,326.251,0.000,262.590,0.000,0.541,0.000
$DEVICE_MAMPS,52.020,1271.430,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14241,175
$CAP_FILE_SIZE,26957,0
$CFSIZE,1024409600,952909824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,214311,6152.163,-17406.166,10,0.9,55,6.9,0.3,308.3,8,3.0