version: 66.13
glider: 401
mission: 22
dive: 1306
start: 8 19 117 2 6 56
data:
$ID,401
$MISSION,22
$DIVE,1306
$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,19
$R_STBD_OVSHOOT,54
$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
$GPS1,190817,015737,6158.1162,-17419.0488,9,0.9,56,6.8,0.4,59.8,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-40.3
$GPS2,190817,020620,6158.1807,-17418.9746,5,0.9,17,6.8,0.0,26.9,9,4.7
$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,131.2,36284,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,229,1946,1758,4092,0.0,0.0,0,21,8.75,0.00,0.00,0.000,2049,0.098,0.000,962,1946,1759,1759,4095,0,0,0,0,0,0,26.19,28.83,28.83,10.23,51.18
$GC,25,-1.78,-487.5,962,1945,1759,4095,0.7,0.0,1,53,8.57,1.12,-12.10,0.000,18692,0.040,1.258,1763,2354,3055,3055,4095,0,0,0,0,0,0,25.89,24.43,25.97,10.24,51.45
$GC,237,-1.78,-487.5,1762,2354,3060,4095,28.9,-12.4,31,246,0.00,1.02,0.00,0.000,1030,0.000,0.030,1763,1946,3060,3060,4095,0,0,0,0,0,0,26.08,26.03,26.08,10.45,49.56
$GC,285,-1.78,-487.5,1762,1946,3061,4095,34.8,-12.6,37,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3061,3061,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.42,48.58
$GC,333,-1.78,-487.5,1762,1946,3063,4094,40.8,-12.8,43,343,0.00,1.08,0.00,0.000,516,0.000,0.051,1763,1520,3062,3062,4095,0,0,0,0,0,0,26.38,26.06,26.39,10.40,47.08
$GC,400,-1.78,-487.5,1762,1520,3064,4095,49.9,-13.4,52,409,0.00,0.95,0.00,0.000,1030,0.000,0.028,1763,1930,3064,3064,4095,0,0,0,0,0,0,26.21,26.18,26.22,10.38,46.10
$GC,447,-1.78,-487.5,1762,1929,3065,4095,56.2,-13.2,58,456,0.00,1.17,0.00,0.000,260,0.000,0.047,1763,2379,3066,3066,4094,0,0,0,0,0,0,26.45,26.13,26.46,10.37,45.55
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,481,-0.45,0.0,1763,2116,3066,4094,60.0,-13.9,61,517,4.55,0.00,28.30,1.311,10244,0.055,0.000,2185,2109,2484,2484,4094,0,0,0,0,0,0,26.15,25.26,24.18,10.37,45.70
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,522,1.78,487.5,2185,2109,2484,4094,63.4,0.0,65,567,7.53,0.98,28.00,1.282,10756,0.030,0.041,2895,1731,1918,1918,4094,0,0,0,0,0,0,25.51,25.44,23.80,10.24,45.23
$GC,631,1.78,487.5,2895,1731,1917,4094,53.4,13.0,79,641,0.00,1.00,0.08,0.001,9222,0.000,0.030,2895,2132,1916,1916,4094,0,0,0,0,0,0,25.47,25.43,25.49,10.10,44.80
$GC,679,1.78,487.5,2895,2131,1915,4094,47.2,13.2,85,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2132,1915,1915,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.10,44.36
$GC,726,1.78,487.5,2894,2131,1913,4094,41.1,13.0,91,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2132,1914,1914,4095,0,0,0,0,0,0,25.94,25.95,25.95,10.09,44.84
$GC,774,1.78,487.5,2895,2131,1912,4095,34.8,13.3,97,784,0.00,1.05,0.00,0.000,516,0.000,0.044,2895,1731,1912,1912,4094,0,0,0,0,0,0,26.03,25.75,26.03,10.08,45.55
$GC,860,1.78,487.5,2895,1731,1910,4094,23.6,12.2,109,870,0.00,0.98,0.00,0.000,1030,0.000,0.031,2896,2129,1909,1909,4094,0,0,0,0,0,0,25.92,25.87,25.94,10.09,46.57
$GC,908,1.96,609.6,2895,2128,1908,4094,18.7,8.7,115,925,0.47,0.00,7.80,0.682,10246,0.034,0.000,2948,2129,1771,1771,4094,0,0,0,0,0,0,25.98,25.38,24.77,10.13,47.04
$GC,965,1.96,610.2,2947,2128,1771,4094,13.2,10.5,122,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2128,1770,1770,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.14,50.51
$GC,1012,1.96,610.2,2948,2128,1769,4094,8.0,10.7,128,1022,0.00,1.05,0.00,0.000,516,0.000,0.046,2948,1730,1769,1769,4094,0,0,0,0,0,0,26.21,25.90,26.22,10.16,51.02
$STATE,1069,end climb,FINISH_DEPTH_REACHED
$STATE,1069,begin subsurface finish
$FINISH1,1.3,1.023737,130
$GC,1080,0.19,129.9,2948,2140,1767,4094,1.3,10.5,136,1098,5.57,0.00,-5.12,0.000,20486,0.023,0.000,2403,2140,2335,2335,4094,0,0,0,0,0,0,26.06,25.46,26.10,10.17,51.96
$FINISH2,0.2
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,004927
$TT8_MAMPS,0.025466,0.247919
$HUMID,51.81
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.80,36.722
$10V_AH,10.12,37.723
$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,35.450,12.200,64.175,0.000,0.000,26.219,19.159,280.447,0.000,0.000,19.038,395.626,0.000,119.462,893.154,229.200,0.000,355.387,0.000,338.474,0.000,0.542,0.000
$DEVICE_MAMPS,97.920,1257.660,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.277,375.009,296.713,439.773,576.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329388
$DATA_FILE_SIZE,14359,138
$CAP_FILE_SIZE,29912,0
$CFSIZE,1024409600,955318272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190817,020620,6158.181,-17418.975,5,0.9,17,6.8,0.0,26.9,9,4.7