version: 66.13
glider: 401
mission: 22
dive: 1385
start: 8 20 117 10 41 39
data:
$ID,401
$MISSION,22
$DIVE,1385
$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,31
$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
$GPS1,200817,102050,6149.4360,-17358.4004,6,0.9,22,7.0,0.3,172.1,9,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-3.1
$GPS2,200817,102050,6149.4360,-17358.4004,6,0.9,22,7.0,0.3,172.1,9,4.9
$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,143.0,12442,-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,-487.5,2403,1939,2343,4092,0.0,0.0,0,18,6.38,0.00,0.00,0.000,4097,0.023,0.000,1787,1940,2343,2343,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.32,51.92
$GC,22,-1.78,-487.5,1787,1939,2343,4094,0.2,0.0,1,34,0.00,0.00,-6.50,0.000,16390,0.000,0.000,1787,1940,3056,3056,4095,0,0,0,0,0,0,26.29,25.49,26.30,10.32,52.12
$GC,67,-1.78,-487.5,1786,1940,3056,4095,3.9,-13.1,8,73,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1940,3056,3056,4095,0,0,0,0,0,0,26.25,26.26,26.25,10.48,52.24
$GC,106,-1.78,-487.5,1786,1939,3058,4095,10.9,-18.0,14,112,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1940,3058,3058,4095,0,0,0,0,0,0,26.29,26.30,26.29,10.48,51.69
$GC,145,-1.78,-487.5,1786,1939,3059,4095,18.0,-17.6,20,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1940,3059,3059,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.49,52.32
$GC,185,-1.78,-487.5,1786,1939,3060,4094,24.7,-17.2,26,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1940,3061,3061,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.48,51.65
$GC,224,-1.78,-487.5,1786,1939,3061,4094,30.1,-12.6,32,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1939,3061,3061,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.43,51.37
$GC,263,-1.78,-487.5,1786,1940,3062,4095,34.6,-11.6,38,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1940,3062,3062,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.41,50.66
$GC,302,-1.78,-487.5,1786,1940,3063,4095,39.2,-11.9,44,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1940,3063,3063,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.38,49.44
$GC,341,-1.78,-487.5,1786,1940,3064,4094,44.2,-12.9,50,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1940,3064,3064,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.38,48.70
$GC,380,-1.78,-487.5,1786,1940,3065,4094,49.4,-12.9,56,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1939,3065,3065,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.37,48.50
$GC,419,-1.78,-487.5,1786,1939,3066,4095,54.5,-13.4,62,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1939,3066,3066,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.36,47.44
$GC,458,-1.78,-487.5,1785,1939,3066,4095,59.8,-13.5,68,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1940,3067,3067,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.35,47.16
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,478,-0.45,0.0,1785,2143,3067,4094,61.7,-13.4,70,515,4.30,0.00,28.27,1.314,10246,0.054,0.000,2185,2143,2483,2483,4094,0,0,0,0,0,0,26.19,25.30,24.25,10.35,47.40
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,520,1.78,487.5,2184,2142,2483,4094,64.6,0.0,76,561,7.53,0.00,28.00,1.291,10246,0.031,0.000,2890,2143,1915,1915,4094,0,0,0,0,0,0,25.58,24.81,23.84,10.22,46.18
$GC,595,1.78,487.5,2890,2142,1914,4094,58.7,12.5,88,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2143,1914,1914,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.09,45.86
$GC,634,1.78,487.5,2890,2142,1912,4094,53.5,13.5,94,640,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1710,1912,1912,4094,0,0,0,0,0,0,25.72,25.42,25.73,10.08,45.47
$GC,722,1.78,487.5,2890,1710,1910,4094,42.3,12.3,108,728,0.00,1.05,0.00,0.000,1030,0.000,0.028,2891,2135,1910,1910,4094,0,0,0,0,0,0,25.74,25.70,25.76,10.08,46.49
$GC,762,1.78,487.5,2890,2134,1909,4094,37.3,12.7,114,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2135,1908,1908,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.07,46.69
$GC,801,1.78,487.5,2890,2134,1908,4094,32.1,13.6,120,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2135,1907,1907,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.07,46.85
$GC,840,1.78,487.5,2890,2134,1906,4094,26.9,13.4,126,847,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1709,1906,1906,4094,0,0,0,0,0,0,26.15,25.83,26.16,10.07,47.71
$GC,886,1.95,604.4,2890,1709,1905,4094,22.0,8.8,133,900,0.47,1.00,7.35,0.697,11270,0.031,0.028,2948,2121,1780,1780,4094,0,0,0,0,0,0,25.98,25.93,24.72,10.11,48.58
$GC,934,2.03,654.4,2947,2120,1778,4094,17.4,9.8,140,941,0.15,0.00,4.40,0.500,10246,0.054,0.000,2972,2121,1720,1720,4094,0,0,0,0,0,0,25.96,25.60,24.75,10.12,49.72
$GC,975,2.11,706.7,2972,2120,1720,4094,13.5,9.8,146,983,0.17,0.00,4.57,0.487,10246,0.050,0.000,2995,2121,1659,1659,4094,0,0,0,0,0,0,25.95,25.61,24.79,10.12,51.37
$GC,1016,2.11,706.7,2994,2120,1658,4094,8.9,10.8,152,1023,0.00,1.08,0.00,0.000,516,0.000,0.050,2996,1720,1658,1658,4095,0,0,0,0,0,0,26.16,25.83,26.17,10.11,52.67
$STATE,1076,end climb,FINISH_DEPTH_REACHED
$STATE,1077,begin subsurface finish
$FINISH1,1.9,1.023343,157
$GC,1088,0.24,157.4,2995,2138,1655,4094,1.9,11.5,162,1106,6.03,0.00,-5.43,0.000,20486,0.031,0.000,2418,2139,2305,2305,4094,0,0,0,0,0,0,26.04,25.46,26.06,10.13,52.83
$FINISH2,0.5
$STATE,1107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,101417
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.41
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.84,39.088
$10V_AH,10.39,39.613
$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,25.025,7.475,72.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,426.183,241.845,164.023,240.557,94.827,0.000,351.776,0.000,248.399,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,49.725,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.078,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,10869,165
$CAP_FILE_SIZE,30895,0
$CFSIZE,1024409600,951435264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,102050,6149.436,-17358.400,6,0.9,22,7.0,0.3,172.1,9,4.9