version: 66.13
glider: 401
mission: 22
dive: 1391
start: 8 20 117 13 1 11
data:
$ID,401
$MISSION,22
$DIVE,1391
$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,35
$R_STBD_OVSHOOT,71
$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
$GPS1,200817,124000,6148.1372,-17358.0586,7,0.8,20,7.0,0.4,156.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-1.9
$GPS2,200817,124000,6148.1372,-17358.0586,7,0.8,20,7.0,0.4,156.8,10,5.0
$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,137.7,10253,-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,-487.5,2401,1985,2336,4092,0.0,0.0,0,18,6.03,0.00,0.00,0.000,4097,0.026,0.000,1822,1987,2335,2335,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.32,52.36
$GC,22,-1.78,-487.5,1821,1986,2336,4094,0.1,0.0,1,36,0.28,0.95,-6.57,0.000,20740,0.049,1.252,1790,2337,3055,3055,4094,0,0,0,0,0,0,26.04,24.51,26.08,10.32,52.20
$GC,268,-1.78,-487.5,1789,2337,3061,4094,29.9,-11.1,41,275,0.00,0.95,0.00,0.000,1030,0.000,0.031,1789,1958,3061,3061,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.42,52.12
$GC,309,-1.78,-487.5,1789,1958,3061,4094,34.4,-11.0,47,315,0.00,1.00,0.00,0.000,260,0.000,0.041,1790,2336,3062,3062,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.39,51.33
$GC,360,-1.78,-487.5,1789,2336,3062,4094,40.0,-10.7,55,367,0.00,0.98,0.00,0.000,1030,0.000,0.032,1790,1943,3062,3062,4095,0,0,0,0,0,0,26.22,26.17,26.25,10.38,50.00
$GC,401,-1.78,-487.5,1789,1943,3063,4095,44.4,-11.4,61,407,0.00,1.05,0.00,0.000,516,0.000,0.054,1790,1528,3064,3064,4095,0,0,0,0,0,0,26.48,26.15,26.50,10.37,48.58
$GC,518,-1.78,-487.5,1789,1528,3065,4095,58.1,-12.0,80,525,0.00,0.85,0.00,0.000,1030,0.000,0.026,1789,1911,3066,3066,4094,0,0,0,0,0,0,26.34,26.32,26.35,10.35,47.55
$STATE,536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,537,begin apogee
$GC,546,-0.45,0.0,1789,2128,3067,4094,60.7,-12.2,83,582,4.28,0.00,28.10,1.302,10244,0.054,0.000,2186,2128,2484,2484,4094,0,0,0,0,0,0,26.22,25.34,24.29,10.34,48.14
$STATE,583,end apogee,CONTROL_FINISHED_OK
$STATE,583,begin climb
$GC,587,1.78,487.5,2186,2128,2484,4094,63.3,0.0,89,628,7.55,0.00,27.92,1.278,11270,0.031,0.000,2892,2128,1916,1916,4094,0,0,0,0,0,0,25.60,25.76,23.87,10.21,47.32
$GC,662,1.78,487.5,2892,2127,1915,4094,57.8,11.6,101,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1914,1914,4094,0,0,0,0,0,0,25.56,25.57,25.57,10.09,46.29
$GC,701,1.78,487.5,2891,2128,1914,4094,52.8,12.7,107,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1914,1914,4094,0,0,0,0,0,0,25.73,25.75,25.74,10.08,45.90
$GC,740,1.78,487.5,2892,2128,1913,4094,47.8,13.0,113,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1913,1913,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.08,46.25
$GC,779,1.78,487.5,2892,2128,1912,4094,42.8,12.7,119,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1911,1911,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.07,47.00
$GC,819,1.78,487.5,2892,2127,1911,4094,37.8,12.4,125,830,0.00,1.08,0.00,0.000,516,0.000,0.046,2893,1715,1910,1910,4094,0,0,0,0,0,0,26.01,25.70,26.03,10.07,46.73
$GC,875,1.78,487.5,2892,1714,1909,4094,30.9,12.0,133,882,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2132,1908,1908,4095,0,0,0,0,0,0,25.88,25.84,25.89,10.06,47.24
$GC,915,1.78,487.5,2892,2131,1908,4095,26.0,12.0,139,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1907,1907,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.06,47.44
$GC,954,2.03,653.4,2892,2131,1907,4094,22.5,8.1,145,968,0.75,0.00,9.95,0.767,10246,0.028,0.000,2975,2132,1722,1722,4094,0,0,0,0,0,0,25.99,25.56,24.70,10.10,47.83
$GC,1001,2.03,653.4,2974,2132,1721,4094,17.8,11.0,152,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2132,1721,1721,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.10,50.19
$GC,1040,2.03,653.4,2974,2131,1720,4094,13.4,11.7,158,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2132,1720,1720,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.12,51.29
$GC,1080,2.03,653.4,2974,2131,1719,4094,8.8,11.6,164,1086,0.00,1.10,0.00,0.000,516,0.000,0.047,2975,1716,1719,1719,4094,0,0,0,0,0,0,26.20,25.87,26.22,10.13,52.12
$STATE,1140,end climb,FINISH_DEPTH_REACHED
$STATE,1140,begin subsurface finish
$FINISH1,1.6,1.023830,123
$GC,1151,0.19,123.4,2974,2148,1716,4094,1.6,11.0,174,1170,5.93,1.20,-5.47,0.000,20996,0.021,1.258,2399,1713,2348,2348,4095,0,0,0,0,0,0,26.06,24.50,26.08,10.14,53.30
$FINISH2,0.2
$STATE,1171,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1172,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,112535
$TT8_MAMPS,0.026215,0.103362
$HUMID,54.17
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.87,39.261
$10V_AH,10.38,39.751
$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,24.800,12.300,65.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,453.954,287.946,146.286,256.874,86.482,0.000,334.005,0.000,265.473,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1257.660,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,118.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,14323,177
$CAP_FILE_SIZE,28836,0
$CFSIZE,1024409600,951140352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,818.92,0x236164,1,24
$GPS,200817,124000,6148.137,-17358.059,7,0.8,20,7.0,0.4,156.8,10,5.0