version: 66.13
glider: 401
mission: 22
dive: 1397
start: 8 20 117 15 37 51
data:
$ID,401
$MISSION,22
$DIVE,1397
$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,29
$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
$GPS1,200817,151618,6147.5884,-17357.2754,6,0.7,20,7.0,0.2,347.1,11,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-6.4
$GPS2,200817,151618,6147.5884,-17357.2754,6,0.7,20,7.0,0.2,347.1,11,4.9
$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,137.5,9027,-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,6,begin dive
$GC,10,-1.78,-487.5,2397,1946,2346,4092,0.0,0.0,0,23,6.22,0.00,-4.15,0.000,20482,0.024,0.000,1788,1946,2808,2808,4094,0,0,0,0,0,0,26.08,28.83,26.11,10.33,52.59
$GC,28,-1.78,-487.5,1788,1945,2808,4094,0.2,0.0,1,35,0.00,1.25,-2.17,0.000,16644,0.000,1.257,1788,2377,3057,3057,4095,0,0,0,0,0,0,26.32,24.53,26.30,10.42,52.00
$GC,198,-1.78,-487.5,1788,2377,3062,4095,25.0,-16.4,28,204,0.00,1.05,0.00,0.000,1030,0.000,0.030,1789,1954,3062,3062,4094,0,0,0,0,0,0,26.15,26.10,26.17,10.47,51.81
$GC,237,-1.78,-487.5,1788,1954,3063,4094,30.5,-12.8,34,244,0.00,1.08,0.00,0.000,516,0.000,0.051,1788,1526,3063,3063,4095,0,0,0,0,0,0,26.42,26.08,26.43,10.43,51.65
$GC,313,-1.78,-487.5,1788,1525,3065,4095,39.8,-12.2,46,320,0.00,1.00,0.00,0.000,1030,0.000,0.026,1788,1957,3065,3065,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.38,50.07
$GC,353,-1.78,-487.5,1788,1957,3066,4094,44.5,-11.7,52,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1957,3066,3066,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.38,49.21
$GC,393,-1.78,-487.5,1788,1957,3067,4095,49.2,-12.3,58,399,0.00,1.08,0.00,0.000,260,0.000,0.044,1788,2369,3067,3067,4095,0,0,0,0,0,0,26.51,26.17,26.51,10.37,48.14
$GC,462,-1.78,-487.5,1787,2369,3068,4095,57.9,-12.5,69,469,0.00,1.02,0.00,0.000,1030,0.000,0.031,1788,1956,3068,3068,4095,0,0,0,0,0,0,26.28,26.24,26.31,10.35,47.63
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,490,-0.45,0.0,1788,2139,3069,4095,60.6,-12.5,72,526,4.30,0.00,28.30,1.304,10244,0.054,0.000,2187,2140,2484,2484,4094,0,0,0,0,0,0,26.21,25.33,24.28,10.35,47.40
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,531,1.78,487.5,2186,2139,2484,4094,63.3,0.0,78,572,7.53,0.00,27.92,1.279,11270,0.031,0.000,2891,2140,1915,1915,4094,0,0,0,0,0,0,25.59,25.75,23.87,10.22,46.69
$GC,606,1.78,487.5,2890,2139,1914,4094,57.4,12.5,90,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2139,1914,1914,4094,0,0,0,0,0,0,25.56,25.57,25.56,10.09,45.86
$GC,645,1.78,487.5,2890,2139,1913,4094,52.3,13.3,96,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2139,1913,1913,4095,0,0,0,0,0,0,25.72,25.75,25.74,10.09,46.73
$GC,684,1.78,487.5,2890,2139,1912,4095,47.1,13.1,102,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2139,1912,1912,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.08,46.18
$GC,723,1.78,487.5,2890,2139,1911,4094,41.9,13.0,108,730,0.00,1.12,0.00,0.000,516,0.000,0.045,2891,1713,1911,1911,4094,0,0,0,0,0,0,25.94,25.63,25.95,10.08,46.25
$GC,805,1.78,487.5,2891,1713,1908,4094,31.3,12.4,121,812,0.00,1.00,0.00,0.000,1030,0.000,0.030,2891,2120,1908,1908,4095,0,0,0,0,0,0,25.86,25.82,25.88,10.07,46.96
$GC,845,1.78,487.5,2891,2119,1907,4095,26.4,12.1,127,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2120,1907,1907,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.07,47.59
$GC,884,1.78,487.5,2890,2119,1906,4094,22.0,11.2,133,891,0.00,1.08,0.00,0.000,516,0.000,0.047,2891,1714,1906,1906,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.10,48.11
$GC,1015,1.90,565.7,2891,1714,1903,4094,10.3,9.4,154,1028,0.32,1.00,5.30,0.522,11270,0.037,0.029,2930,2126,1824,1824,4094,0,0,0,0,0,0,26.08,26.04,24.93,10.17,52.91
$GC,1061,1.90,565.7,2929,2126,1823,4094,5.5,10.6,161,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2126,1823,1823,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.16,52.63
$STATE,1097,end climb,FINISH_DEPTH_REACHED
$STATE,1097,begin subsurface finish
$FINISH1,1.9,1.023861,121
$GC,1107,0.18,121.2,2930,2126,1822,4094,1.9,9.6,167,1120,5.75,0.00,-4.45,0.000,20486,0.054,0.000,2404,2126,2347,2347,4095,0,0,0,0,0,0,26.04,24.79,26.12,10.17,53.03
$FINISH2,0.3
$STATE,1121,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1122,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,150956
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.66
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.87,39.450
$10V_AH,10.39,39.899
$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,24.125,11.550,61.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.038,279.773,133.775,245.144,83.398,0.000,312.094,0.000,254.012,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1256.895,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.744,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330616
$DATA_FILE_SIZE,10888,169
$CAP_FILE_SIZE,27812,0
$CFSIZE,1024409600,950845440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,10.13,0x236164,0,24
$GPS,200817,151618,6147.588,-17357.275,6,0.7,20,7.0,0.2,347.1,11,4.9