version: 66.13
glider: 401
mission: 22
dive: 1393
start: 8 20 117 13 58 11
data:
$ID,401
$MISSION,22
$DIVE,1393
$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,26
$R_STBD_OVSHOOT,38
$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
$GPS1,200817,134425,6147.8101,-17357.9395,5,0.8,34,7.0,0.2,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-37.6
$GPS2,200817,135735,6147.8213,-17357.9883,7,0.8,17,7.0,0.0,124.5,10,4.8
$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,136.0,9745,-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,-487.5,230,1969,1670,4092,0.0,0.0,0,18,6.35,0.00,0.00,0.000,2049,0.079,0.000,781,1971,1670,1670,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.23,50.82
$GC,22,-1.78,-487.5,781,1969,1670,4094,0.8,0.0,1,53,10.65,1.08,-12.55,0.000,18692,0.047,1.250,1765,2367,3055,3055,4095,0,0,0,0,0,0,25.87,24.33,25.94,10.22,50.82
$GC,250,-1.78,-487.5,1764,2368,3060,4095,30.3,-13.2,38,256,0.00,1.05,0.00,0.000,1030,0.000,0.029,1765,1944,3061,3061,4095,0,0,0,0,0,0,26.06,26.02,26.09,10.47,50.00
$GC,290,-1.78,-487.5,1764,1945,3061,4095,35.1,-11.8,44,296,0.00,1.05,0.00,0.000,516,0.000,0.050,1765,1528,3061,3061,4095,0,0,0,0,0,0,26.34,26.01,26.36,10.44,48.07
$GC,366,-1.78,-487.5,1764,1528,3063,4095,44.8,-12.9,56,372,0.00,0.95,0.00,0.000,1030,0.000,0.026,1765,1943,3063,3063,4095,0,0,0,0,0,0,26.19,26.16,26.20,10.40,46.10
$GC,406,-1.78,-487.5,1764,1942,3064,4095,49.9,-12.5,62,412,0.00,1.10,0.00,0.000,260,0.000,0.043,1765,2366,3064,3064,4094,0,0,0,0,0,0,26.42,26.10,26.44,10.39,46.33
$GC,464,-1.78,-487.5,1764,2365,3066,4094,57.3,-12.6,71,470,0.00,1.02,0.00,0.000,1030,0.000,0.028,1765,1954,3066,3066,4095,0,0,0,0,0,0,26.22,26.18,26.23,10.38,45.70
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,491,-0.45,0.0,1765,2137,3066,4094,60.1,-12.8,74,527,4.55,0.00,28.20,1.293,10244,0.054,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.14,25.27,24.20,10.38,45.86
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,532,1.78,487.5,2185,2137,2484,4094,62.9,0.0,80,574,7.53,0.00,27.88,1.267,11270,0.031,0.000,2890,2137,1916,1916,4094,0,0,0,0,0,0,25.55,25.70,23.83,10.25,44.76
$GC,607,1.78,487.5,2890,2137,1915,4094,56.7,12.7,92,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2138,1914,1914,4094,0,0,0,0,0,0,25.53,25.55,25.55,10.12,44.76
$GC,646,1.78,487.5,2890,2137,1913,4094,51.5,12.8,98,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2138,1913,1913,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.11,44.05
$GC,685,1.78,487.5,2890,2137,1912,4094,46.3,13.6,104,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2138,1912,1912,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.11,44.36
$GC,725,1.78,487.5,2890,2136,1911,4094,41.0,13.3,110,731,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1706,1912,1912,4094,0,0,0,0,0,0,25.93,25.61,25.94,10.10,44.56
$GC,843,1.78,487.5,2890,1706,1907,4094,25.9,12.5,129,849,0.00,1.02,0.00,0.000,1030,0.000,0.028,2891,2127,1907,1907,4094,0,0,0,0,0,0,25.91,25.87,25.93,10.09,46.41
$GC,883,1.91,578.0,2890,2127,1907,4094,21.9,9.2,135,896,0.38,1.05,6.22,0.647,10756,0.037,0.044,2936,1710,1808,1808,4094,0,0,0,0,0,0,25.97,25.33,24.72,10.12,46.85
$GC,978,1.91,578.0,2935,1710,1806,4094,12.3,10.7,150,984,0.00,0.95,0.00,0.000,1030,0.000,0.029,2935,2103,1805,1805,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.16,50.66
$GC,1018,1.91,578.0,2935,2103,1805,4094,8.0,10.6,156,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2103,1804,1804,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.18,51.26
$GC,1057,1.91,578.0,2935,2103,1803,4094,3.6,11.6,162,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2102,1802,1802,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.18,51.69
$STATE,1074,end climb,FINISH_DEPTH_REACHED
$STATE,1074,begin subsurface finish
$FINISH1,1.5,1.023838,123
$GC,1085,0.18,122.8,2935,2144,1803,4094,1.5,10.5,165,1099,5.50,0.00,-4.72,0.000,20486,0.024,0.000,2401,2145,2346,2346,4094,0,0,0,0,0,0,26.07,24.77,26.13,10.19,52.95
$FINISH2,0.2
$STATE,1100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,134735
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.15
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.83,39.336
$10V_AH,10.29,39.803
$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,34.950,10.925,62.300,0.000,0.000,46.304,63.658,402.580,0.000,0.000,18.767,435.644,313.588,146.149,748.967,257.843,0.000,326.864,0.000,252.760,0.000,0.543,0.000
$DEVICE_MAMPS,78.795,1250.010,1292.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.981,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,10792,167
$CAP_FILE_SIZE,33625,0
$CFSIZE,1024409600,951025664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200817,135735,6147.821,-17357.988,7,0.8,17,7.0,0.0,124.5,10,4.8