version: 66.13
glider: 401
mission: 22
dive: 1405
start: 8 20 117 19 17 30
data:
$ID,401
$MISSION,22
$DIVE,1405
$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,24
$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
$GPS1,200817,190048,6146.0752,-17355.7090,5,1.0,34,7.0,0.8,239.7,9,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-39.5
$GPS2,200817,191654,6146.0410,-17355.7129,7,0.9,21,7.0,0.2,104.9,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,158.5,40899,-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,-487.5,229,1949,1827,4092,0.0,0.0,0,18,6.22,0.00,0.00,0.000,2049,0.093,0.000,758,1950,1826,1826,4095,0,0,0,0,0,0,26.20,28.83,28.83,10.27,50.23
$GC,22,-1.78,-487.5,758,1949,1826,4095,0.8,0.0,1,53,10.93,1.20,-11.15,0.000,18692,0.049,1.248,1764,2374,3055,3055,4094,0,0,0,0,0,0,25.91,24.34,25.97,10.27,50.27
$GC,244,-1.78,-487.5,1763,2374,3061,4094,27.8,-13.1,37,250,0.00,1.08,0.00,0.000,1030,0.000,0.029,1764,1943,3061,3061,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.48,49.05
$GC,284,-1.78,-487.5,1764,1943,3061,4094,33.0,-12.9,43,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1944,3062,3062,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.46,48.30
$GC,323,-1.78,-487.5,1763,1943,3062,4095,38.0,-12.8,49,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3063,3063,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.43,47.28
$GC,362,-1.78,-487.5,1763,1943,3063,4095,43.1,-13.2,55,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3064,3064,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.41,45.94
$GC,401,-1.78,-487.5,1763,1943,3064,4095,48.1,-12.8,61,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3064,3064,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,45.90
$GC,440,-1.78,-487.5,1763,1943,3065,4095,53.3,-13.0,67,447,0.00,1.15,0.00,0.000,260,0.000,0.042,1764,2375,3066,3066,4095,0,0,0,0,0,0,26.45,26.13,26.46,10.38,45.19
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,498,-0.45,0.0,1764,2115,3067,4095,60.3,-13.7,75,534,4.55,0.00,28.20,1.298,10244,0.056,0.000,2184,2114,2484,2484,4094,0,0,0,0,0,0,26.14,25.28,24.22,10.38,45.31
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,539,1.78,487.5,2184,2114,2484,4094,63.4,0.0,81,581,7.55,0.00,27.85,1.271,11270,0.031,0.000,2891,2114,1915,1915,4094,0,0,0,0,0,0,25.56,25.71,23.85,10.26,44.88
$GC,614,1.78,487.5,2891,2114,1914,4094,57.3,12.2,93,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2114,1914,1914,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.13,44.40
$GC,653,1.78,487.5,2890,2114,1913,4094,52.1,13.1,99,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2114,1913,1913,4095,0,0,0,0,0,0,25.72,25.74,25.73,10.12,44.25
$GC,693,1.78,487.5,2891,2114,1912,4095,46.8,13.4,105,699,0.00,0.98,0.00,0.000,516,0.000,0.044,2891,1738,1912,1912,4094,0,0,0,0,0,0,25.84,25.55,25.86,10.11,44.52
$GC,769,1.78,487.5,2891,1737,1910,4094,36.6,13.0,117,775,0.00,0.98,0.00,0.000,1030,0.000,0.029,2891,2134,1909,1909,4094,0,0,0,0,0,0,25.79,25.75,25.80,10.10,45.47
$GC,808,1.78,487.5,2891,2133,1908,4094,31.4,13.3,123,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1908,1908,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.10,45.62
$GC,848,1.78,487.5,2891,2133,1907,4094,26.6,11.9,129,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2134,1907,1907,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.10,45.78
$GC,887,1.78,487.5,2891,2133,1906,4094,21.8,12.5,135,893,0.00,1.05,0.00,0.000,516,0.000,0.045,2891,1736,1906,1906,4094,0,0,0,0,0,0,26.19,25.86,26.20,10.12,46.85
$GC,999,1.90,566.9,2891,1736,1903,4094,11.2,9.4,153,1013,0.32,0.98,5.40,0.523,11270,0.036,0.029,2930,2136,1822,1822,4094,0,0,0,0,0,0,26.07,26.03,24.91,10.19,51.33
$GC,1047,1.90,567.6,2930,2136,1821,4094,6.5,10.5,160,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2136,1820,1820,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,51.49
$STATE,1082,end climb,FINISH_DEPTH_REACHED
$STATE,1083,begin subsurface finish
$FINISH1,2.0,1.023884,120
$GC,1092,0.18,119.6,2930,2136,1820,4094,2.0,11.7,166,1107,5.60,1.10,-4.45,0.000,20996,0.039,1.258,2397,1736,2350,2350,4095,0,0,0,0,0,0,26.09,24.52,26.13,10.19,51.85
$FINISH2,0.4
$STATE,1108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,200817,190934
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.40
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.85,39.732
$10V_AH,10.30,40.103
$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,35.175,9.100,61.450,0.000,0.000,108.096,105.186,357.133,0.000,0.000,22.628,436.436,400.621,149.823,821.422,277.725,0.000,333.438,0.000,254.313,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,1258.425,1298.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,10793,168
$CAP_FILE_SIZE,35723,0
$CFSIZE,1024409600,950435840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200817,191654,6146.041,-17355.713,7,0.9,21,7.0,0.2,104.9,9,4.9