version: 66.13
glider: 401
mission: 22
dive: 1240
start: 8 17 117 23 41 30
data:
$ID,401
$MISSION,22
$DIVE,1240
$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,51
$R_STBD_OVSHOOT,53
$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
$GPS1,170817,233308,6205.2505,-17430.1895,4,0.8,19,6.7,0.3,37.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-41.6
$GPS2,170817,234054,6205.3203,-17430.2363,6,0.8,17,6.7,0.6,249.0,11,4.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$TGT_LATLONG,6156.580,-17421.840
$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,149.0,17763,-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,-487.5,238,1988,1733,4092,0.0,0.0,0,20,8.82,0.00,0.00,0.000,2049,0.106,0.000,968,1983,1733,1733,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.21,51.89
$GC,24,-1.78,-487.5,968,1987,1733,4094,0.9,0.0,1,51,8.52,1.23,-12.38,0.000,19204,0.043,1.271,1760,1543,3057,3057,4095,0,0,0,0,0,0,25.90,24.47,25.93,10.22,52.59
$GC,276,-1.78,-487.5,1760,1543,3063,4095,32.9,-11.0,37,285,0.00,0.90,0.00,0.000,1030,0.000,0.024,1760,1942,3063,3063,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.42,49.60
$GC,324,-1.78,-487.5,1760,1942,3064,4094,38.0,-10.2,43,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1942,3064,3064,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.40,48.22
$GC,372,-1.78,-487.5,1760,1942,3065,4094,43.0,-10.6,49,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1942,3065,3065,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.38,47.00
$GC,420,-1.78,-487.5,1760,1942,3065,4095,47.6,-9.5,55,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1942,3066,3066,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.38,46.41
$GC,467,-1.78,-487.5,1760,1942,3066,4095,52.1,-9.8,61,476,0.00,1.02,0.00,0.000,516,0.000,0.050,1760,1545,3066,3066,4094,0,0,0,0,0,0,26.46,26.15,26.47,10.36,45.78
$STATE,530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,530,begin apogee
$GC,540,-0.45,0.0,1760,2121,3068,4095,60.3,-13.0,70,583,4.57,0.00,28.38,1.310,10244,0.056,0.000,2185,2122,2485,2485,4094,0,0,0,0,0,0,26.18,24.96,24.20,10.35,46.06
$STATE,584,end apogee,CONTROL_FINISHED_OK
$STATE,584,begin climb
$GC,588,1.78,487.5,2184,2121,2485,4094,63.7,0.0,75,631,7.55,0.00,28.17,1.288,11270,0.031,0.000,2892,2121,1915,1915,4094,0,0,0,0,0,0,25.58,25.75,23.82,10.23,45.55
$GC,670,1.78,487.5,2892,2121,1915,4094,57.0,13.1,85,680,0.00,1.02,0.00,0.000,516,0.000,0.044,2892,1736,1914,1914,4094,0,0,0,0,0,0,25.57,25.29,25.58,10.10,45.15
$GC,756,1.78,487.5,2891,1736,1912,4094,45.0,13.5,97,766,0.00,0.98,0.00,0.000,1030,0.000,0.031,2892,2130,1911,1911,4094,0,0,0,0,0,0,25.65,25.63,25.66,10.08,45.07
$GC,803,1.78,487.5,2892,2129,1910,4094,38.7,13.2,103,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1910,1910,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.07,45.47
$GC,849,1.78,487.5,2892,2129,1909,4094,32.8,12.6,109,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2130,1908,1908,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.07,45.51
$GC,895,1.78,487.5,2892,2129,1907,4094,27.0,12.2,115,904,0.00,1.02,0.00,0.000,516,0.000,0.044,2892,1740,1907,1907,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.07,46.10
$GC,968,1.85,537.4,2892,1739,1905,4094,19.1,9.8,125,979,0.17,0.93,3.97,0.469,11270,0.044,0.030,2916,2121,1857,1857,4094,0,0,0,0,0,0,25.94,25.96,24.83,10.12,48.22
$GC,1019,1.96,608.4,2915,2121,1856,4094,14.6,9.5,131,1029,0.28,0.00,5.43,0.555,10246,0.040,0.000,2950,2121,1773,1773,4094,0,0,0,0,0,0,25.98,25.67,24.88,10.14,50.51
$GC,1068,1.96,608.4,2950,2121,1772,4094,9.3,10.6,137,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2122,1772,1772,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.14,51.26
$GC,1115,1.96,608.4,2949,2121,1770,4094,4.0,11.2,143,1125,0.00,1.02,0.00,0.000,516,0.000,0.046,2950,1732,1770,1770,4094,0,0,0,0,0,0,26.24,25.93,26.25,10.15,52.00
$STATE,1133,end climb,FINISH_DEPTH_REACHED
$STATE,1133,begin subsurface finish
$FINISH1,1.5,1.023771,128
$GC,1143,0.19,127.5,2950,2136,1769,4094,1.5,11.2,145,1163,5.65,1.12,-5.15,0.000,20996,0.024,1.270,2404,1729,2335,2335,4094,0,0,0,0,0,0,26.03,24.58,26.08,10.16,51.69
$FINISH2,0.2
$STATE,1164,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1164,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,222535
$TT8_MAMPS,0.025466,0.252413
$HUMID,52.08
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.82,34.794
$10V_AH,10.12,36.171
$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,35.575,11.725,65.950,0.000,0.000,23.702,15.473,235.671,0.000,0.000,18.464,419.798,0.000,125.317,878.295,222.502,0.000,366.593,0.000,359.123,0.000,0.542,0.000
$DEVICE_MAMPS,105.570,1271.430,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.602,399.398,316.058,468.601,609.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14291,147
$CAP_FILE_SIZE,31140,0
$CFSIZE,1024409600,958562304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170817,234054,6205.320,-17430.236,6,0.8,17,6.7,0.6,249.0,11,4.5