version: 66.13
glider: 401
mission: 22
dive: 1375
start: 8 20 117 6 24 44
data:
$ID,401
$MISSION,22
$DIVE,1375
$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,25
$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
$GPS1,200817,055921,6151.8770,-17401.0273,3,0.8,22,7.0,0.0,72.8,11,5.0
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-39.4
$GPS2,200817,062405,6151.8574,-17400.7637,9,0.8,23,7.0,0.5,27.6,11,5.0
$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,144.4,17368,-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,-487.5,237,1946,1814,4092,0.0,0.0,0,18,6.30,0.00,0.00,0.000,2049,0.106,0.000,757,1946,1814,1814,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.27,49.37
$GC,22,-1.78,-487.5,756,1946,1814,4094,1.0,0.0,1,53,10.90,1.20,-11.27,0.000,19204,0.047,1.248,1763,2376,3058,3058,4095,0,0,0,0,0,0,25.87,24.33,25.94,10.28,48.66
$GC,285,-1.78,-487.5,1762,2376,3064,4095,34.6,-12.5,44,292,0.00,1.08,0.00,0.000,1030,0.000,0.028,1763,1943,3064,3064,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.44,46.29
$GC,325,-1.78,-487.5,1762,1943,3065,4094,39.7,-12.7,50,332,0.00,1.05,0.00,0.000,516,0.000,0.050,1763,1525,3065,3065,4095,0,0,0,0,0,0,26.36,26.03,26.37,10.42,45.43
$GC,395,-1.78,-487.5,1763,1525,3067,4095,49.0,-13.7,61,402,0.00,1.00,0.00,0.000,1030,0.000,0.025,1763,1957,3067,3067,4095,0,0,0,0,0,0,26.20,26.16,26.21,10.40,44.29
$GC,435,-1.78,-487.5,1763,1957,3068,4095,54.5,-13.8,67,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3068,3068,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,45.03
$GC,474,-1.78,-487.5,1762,1957,3069,4095,59.8,-13.5,73,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1957,3069,3069,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.38,44.25
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,494,-0.45,0.0,1763,2139,3069,4095,61.9,-14.5,75,530,4.55,0.00,28.40,1.314,10244,0.055,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.14,25.25,24.18,10.38,44.17
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,535,1.78,487.5,2186,2138,2484,4094,65.0,0.0,81,577,7.55,0.00,27.85,1.287,11270,0.031,0.000,2892,2139,1916,1916,4094,0,0,0,0,0,0,25.53,25.67,23.80,10.25,43.81
$GC,611,1.78,487.5,2892,2138,1915,4094,58.9,11.9,93,617,0.00,1.12,0.00,0.000,516,0.000,0.042,2893,1716,1916,1916,4094,0,0,0,0,0,0,25.53,25.25,25.53,10.13,43.14
$GC,704,1.78,487.5,2892,1716,1912,4094,46.6,13.1,108,711,0.00,1.02,0.00,0.000,1030,0.000,0.028,2892,2132,1912,1912,4094,0,0,0,0,0,0,25.65,25.62,25.67,10.11,44.01
$GC,744,1.78,487.5,2892,2132,1911,4094,41.4,13.0,114,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2133,1911,1911,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.10,44.44
$GC,783,1.78,487.5,2892,2132,1910,4094,36.2,12.8,120,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1910,1910,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.09,44.48
$GC,823,1.78,487.5,2892,2132,1909,4094,31.4,12.1,126,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1909,1909,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.09,44.64
$GC,862,1.78,487.5,2892,2132,1907,4094,26.4,12.6,132,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1908,1908,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.09,45.78
$GC,901,1.78,487.5,2892,2132,1907,4094,21.6,12.3,138,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1907,1907,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.12,45.98
$GC,941,2.03,656.1,2892,2132,1905,4094,18.1,8.0,144,954,0.75,0.00,10.02,0.724,10246,0.028,0.000,2975,2132,1717,1717,4094,0,0,0,0,0,0,26.03,25.59,24.77,10.16,48.38
$GC,988,2.15,738.0,2975,2132,1717,4094,13.8,9.3,151,1000,0.30,0.00,6.05,0.575,10246,0.044,0.000,3008,2132,1622,1622,4094,0,0,0,0,0,0,25.89,25.32,24.79,10.14,50.15
$GC,1034,2.15,738.0,3008,2132,1621,4094,9.1,10.7,158,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2132,1620,1620,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.13,50.94
$GC,1073,2.15,738.0,3008,2132,1619,4094,4.9,11.0,164,1079,0.00,1.10,0.00,0.000,516,0.000,0.046,3009,1717,1619,1619,4094,0,0,0,0,0,0,26.18,25.86,26.20,10.14,51.29
$STATE,1103,end climb,FINISH_DEPTH_REACHED
$STATE,1103,begin subsurface finish
$FINISH1,1.5,1.023802,125
$GC,1114,0.19,125.4,3008,2144,1618,4095,1.5,10.3,169,1133,6.20,0.00,-6.20,0.000,20486,0.022,0.000,2405,2145,2340,2340,4094,0,0,0,0,0,0,25.99,25.43,26.02,10.15,51.89
$FINISH2,0.3
$STATE,1134,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1134,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,061322
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.16
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,23.80,38.766
$10V_AH,10.30,39.371
$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,36.550,9.075,72.325,0.000,0.000,223.848,158.425,470.083,0.000,0.000,28.138,442.486,579.190,162.035,1167.027,283.287,0.000,352.642,0.000,259.911,0.000,0.544,0.000
$DEVICE_MAMPS,106.335,1247.715,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329272
$DATA_FILE_SIZE,14268,172
$CAP_FILE_SIZE,40176,0
$CFSIZE,1024409600,951910400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200817,062405,6151.857,-17400.764,9,0.8,23,7.0,0.5,27.6,11,5.0