version: 66.13
glider: 401
mission: 22
dive: 1377
start: 8 20 117 7 5 52
data:
$ID,401
$MISSION,22
$DIVE,1377
$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,30
$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
$GPS1,200817,062405,6151.8574,-17400.7637,9,0.8,23,7.0,0.5,27.6,11,5.0
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-1.6
$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,-487.5,2403,1954,2342,4092,0.0,0.0,0,18,6.50,0.00,0.00,0.000,4097,0.022,0.000,1772,1954,2342,2342,4095,0,0,0,0,0,0,26.30,28.83,28.83,10.30,52.75
$GC,22,-1.78,-487.5,1772,1954,2342,4095,0.2,0.0,1,35,0.00,1.15,-6.07,0.000,16900,0.000,1.267,1772,1519,3055,3055,4095,0,0,0,0,0,0,26.28,24.52,26.29,10.31,52.91
$GC,179,-1.78,-487.5,1771,1518,3059,4095,24.6,-18.3,26,186,0.00,1.02,0.00,0.000,1030,0.000,0.028,1772,1953,3059,3059,4095,0,0,0,0,0,0,26.13,26.10,26.14,10.46,52.91
$GC,219,-1.78,-487.5,1771,1953,3060,4095,30.1,-13.0,32,226,0.00,1.10,0.00,0.000,260,0.000,0.047,1772,2370,3061,3061,4095,0,0,0,0,0,0,26.36,26.05,26.38,10.41,52.08
$GC,295,-1.78,-487.5,1771,2370,3061,4095,39.6,-12.3,44,301,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1941,3062,3062,4095,0,0,0,0,0,0,26.17,26.12,26.20,10.37,50.47
$GC,335,-1.78,-487.5,1771,1940,3063,4095,44.6,-13.0,50,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1941,3063,3063,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.36,49.56
$GC,374,-1.78,-487.5,1771,1941,3064,4094,49.7,-13.3,56,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1941,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.35,48.77
$GC,413,-1.78,-487.5,1771,1941,3065,4094,54.6,-12.6,62,420,0.00,1.05,0.00,0.000,516,0.000,0.051,1772,1524,3065,3065,4094,0,0,0,0,0,0,26.48,26.15,26.49,10.35,48.03
$STATE,455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,455,begin apogee
$GC,466,-0.45,0.0,1771,2129,3066,4094,60.8,-13.2,69,501,4.47,0.00,28.20,1.306,10244,0.055,0.000,2185,2129,2484,2484,4095,0,0,0,0,0,0,26.18,25.29,24.25,10.34,48.11
$STATE,503,end apogee,CONTROL_FINISHED_OK
$STATE,503,begin climb
$GC,506,1.78,487.5,2185,2128,2484,4095,63.8,0.0,75,548,7.55,0.00,27.85,1.279,11270,0.031,0.000,2890,2129,1916,1916,4094,0,0,0,0,0,0,25.57,25.72,23.84,10.21,47.32
$GC,581,1.78,487.5,2890,2128,1915,4094,57.9,11.8,87,588,0.00,1.10,0.00,0.000,516,0.000,0.044,2890,1717,1915,1915,4095,0,0,0,0,0,0,25.54,25.26,25.55,10.08,46.18
$GC,675,1.78,487.5,2890,1717,1912,4095,45.7,12.9,102,682,0.00,1.02,0.00,0.000,1030,0.000,0.029,2890,2131,1912,1912,4094,0,0,0,0,0,0,25.65,25.62,25.68,10.06,46.45
$GC,715,1.78,487.5,2890,2130,1911,4094,40.6,12.6,108,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2130,1911,1911,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.06,46.73
$GC,755,1.78,487.5,2890,2129,1910,4094,35.6,12.6,114,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2130,1910,1910,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.06,47.36
$GC,794,1.78,487.5,2890,2130,1909,4094,30.6,13.0,120,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2130,1908,1908,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.06,47.32
$GC,833,1.78,487.5,2890,2130,1907,4094,25.7,12.8,126,839,0.00,1.10,0.00,0.000,516,0.000,0.045,2891,1715,1908,1908,4094,0,0,0,0,0,0,26.15,25.84,26.16,10.06,48.14
$GC,927,1.92,584.4,2890,1715,1905,4094,16.2,9.1,141,940,0.40,1.00,6.35,0.612,11270,0.033,0.029,2936,2127,1802,1802,4094,0,0,0,0,0,0,26.03,25.99,24.84,10.14,51.37
$GC,974,1.94,593.5,2936,2126,1801,4094,11.6,10.4,148,981,0.00,0.00,2.33,0.138,8198,0.000,0.000,2936,2127,1790,1790,4094,0,0,0,0,0,0,26.22,25.69,24.87,10.13,51.77
$GC,1014,1.94,593.5,2936,2126,1789,4094,7.3,10.7,154,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2127,1789,1789,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.14,52.36
$GC,1053,1.94,593.5,2936,2126,1788,4094,2.9,10.9,160,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2127,1789,1789,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.15,53.03
$STATE,1064,end climb,SURFACE_DEPTH_REACHED
$STATE,1064,begin surface coast
$FINISH,0.2,1.012193
$STATE,1084,end surface coast,CONTROL_FINISHED_OK
$STATE,1084,begin surface
$SM_CCo,1188,0.00,0.000,0,0,1787,599.30
$SM_GC,1.07,28.38,0.45,0.00,0.021,0.042,0.000,230,1949,1787,-6.59,1.41,599.30,0,0,0,0,0,0,26.03,26.06,26.10
$IRIDIUM_FIX,6149.06,-17422.35,200817,061322
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.89
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.84,38.811
$10V_AH,10.38,39.413
$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,47.300,12.100,64.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.995,328.954,163.019,239.241,88.029,0.000,337.160,0.000,248.406,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1266.840,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10814,165
$CAP_FILE_SIZE,29188,0
$CFSIZE,1024409600,951828480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,072658,6151.217,-17359.623,4,0.8,38,7.0,0.0,131.6,10,5.0