version: 66.13
glider: 401
mission: 22
dive: 1399
start: 8 20 117 16 47 0
data:
$ID,401
$MISSION,22
$DIVE,1399
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,200817,162003,6147.2798,-17356.3398,8,0.7,41,7.0,0.4,156.3,11,4.8
$_CALLS,7
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-32.3
$GPS2,200817,164624,6147.2998,-17356.2617,1,0.9,15,7.0,0.2,31.6,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,158.7,43278,-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,10,-1.78,-487.5,230,1938,1737,4091,0.0,0.0,0,18,6.32,0.00,0.00,0.000,2049,0.092,0.000,765,1942,1737,1737,4094,0,0,0,0,0,0,26.11,28.83,28.83,10.27,48.81
$GC,22,-1.78,-487.5,764,1942,1736,4094,0.8,0.0,1,53,10.75,1.23,-11.82,0.000,18692,0.044,1.244,1762,2375,3057,3057,4095,0,0,0,0,0,0,25.82,24.28,25.90,10.27,48.38
$GC,214,-1.78,-487.5,1762,2374,3062,4095,24.1,-17.7,32,220,0.00,1.05,0.00,0.000,1030,0.000,0.029,1762,1952,3062,3062,4095,0,0,0,0,0,0,26.00,25.97,26.03,10.54,48.14
$GC,254,-1.78,-487.5,1762,1952,3062,4095,29.5,-12.7,38,260,0.00,1.08,0.00,0.000,516,0.000,0.048,1763,1524,3063,3063,4095,0,0,0,0,0,0,26.29,25.96,26.30,10.49,47.99
$GC,354,-1.78,-487.5,1762,1525,3065,4095,42.3,-13.1,54,360,0.00,1.00,0.00,0.000,1030,0.000,0.024,1762,1957,3065,3065,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.42,45.47
$GC,394,-1.78,-487.5,1762,1957,3065,4094,47.5,-12.8,60,400,0.00,1.08,0.00,0.000,260,0.000,0.043,1763,2371,3066,3066,4094,0,0,0,0,0,0,26.41,26.08,26.41,10.41,44.80
$GC,451,-1.78,-487.5,1762,2370,3068,4094,55.2,-13.3,69,458,0.00,1.05,0.00,0.000,1030,0.000,0.029,1762,1945,3068,3068,4095,0,0,0,0,0,0,26.18,26.15,26.21,10.39,44.80
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,497,-0.45,0.0,1763,2139,3069,4094,60.6,-13.6,75,533,4.57,0.00,28.33,1.297,10244,0.055,0.000,2186,2138,2484,2484,4095,0,0,0,0,0,0,26.13,25.26,24.20,10.39,44.25
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,538,1.78,487.5,2185,2138,2484,4095,63.8,0.0,81,580,7.55,0.00,27.90,1.274,11270,0.031,0.000,2893,2139,1915,1915,4094,0,0,0,0,0,0,25.55,25.69,23.84,10.27,43.69
$GC,614,1.78,487.5,2892,2138,1915,4094,57.6,12.3,93,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2139,1914,1914,4094,0,0,0,0,0,0,25.54,25.56,25.56,10.14,43.10
$GC,653,1.78,487.5,2892,2138,1913,4094,52.4,13.2,99,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2139,1913,1913,4095,0,0,0,0,0,0,25.72,25.73,25.72,10.13,43.30
$GC,692,1.78,487.5,2892,2139,1913,4095,47.2,13.6,105,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2139,1912,1912,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.12,43.50
$GC,731,1.78,487.5,2892,2139,1911,4094,41.9,13.8,111,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2139,1911,1911,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.11,43.66
$GC,770,1.78,487.5,2892,2138,1910,4094,36.5,13.5,117,777,0.00,1.12,0.00,0.000,516,0.000,0.043,2893,1713,1909,1909,4094,0,0,0,0,0,0,26.01,25.70,26.03,10.10,44.32
$GC,834,1.78,487.5,2892,1713,1908,4094,28.1,13.1,127,841,0.00,1.00,0.00,0.000,1030,0.000,0.028,2893,2124,1908,1908,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.11,44.95
$GC,875,1.78,487.5,2892,2123,1907,4094,23.2,11.9,133,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2124,1906,1906,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.12,46.22
$GC,914,1.95,603.5,2892,2123,1905,4094,19.6,8.8,139,928,0.47,1.08,7.32,0.670,10756,0.033,0.045,2945,1717,1780,1780,4094,0,0,0,0,0,0,26.00,25.67,24.76,10.16,47.24
$GC,1043,1.95,603.5,2944,1717,1777,4094,5.9,11.5,159,1049,0.00,0.95,0.00,0.000,1030,0.000,0.029,2945,2110,1776,1776,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.18,50.90
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,1.6,1.023863,121
$GC,1083,0.18,121.1,2945,2110,1775,4094,1.6,11.9,164,1096,5.62,0.00,-4.93,0.000,20486,0.024,0.000,2402,2111,2349,2349,4094,0,0,0,0,0,0,26.05,24.75,26.10,10.19,51.49
$FINISH2,0.2
$STATE,1097,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,163147
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.75
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.84,39.552
$10V_AH,10.30,39.958
$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,35.300,11.100,63.550,0.000,0.000,189.712,175.182,705.454,0.000,0.000,20.176,432.929,535.823,146.310,1164.408,411.025,0.000,327.108,0.000,251.418,0.000,0.543,0.000
$DEVICE_MAMPS,91.800,1243.890,1297.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330552
$DATA_FILE_SIZE,10849,166
$CAP_FILE_SIZE,38003,0
$CFSIZE,1024409600,950730752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,164624,6147.300,-17356.262,1,0.9,15,7.0,0.2,31.6,10,4.9