version: 66.13
glider: 401
mission: 22
dive: 1404
start: 8 20 117 18 38 54
data:
$ID,401
$MISSION,22
$DIVE,1404
$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,22
$R_STBD_OVSHOOT,27
$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
$GPS1,200817,175710,6146.7485,-17355.8633,7,0.7,18,7.0,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-2.6
$GPS2,200817,175710,6146.7485,-17355.8633,7,0.7,18,7.0,0.0,0.0,11,4.9
$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,158.8,42202,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-1.78,-487.5,2399,1956,2352,4092,0.0,0.0,0,19,6.45,0.00,-1.23,0.000,20482,0.026,0.000,1773,1956,2487,2487,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.31,53.89
$GC,24,-1.78,-487.5,1772,1956,2487,4094,0.1,0.0,1,34,0.00,1.20,-5.25,0.000,16644,0.000,1.257,1772,2380,3058,3058,4095,0,0,0,0,0,0,26.38,24.58,26.39,10.34,54.09
$GC,163,-1.78,-487.5,1772,2379,3062,4095,19.0,-18.1,21,173,0.00,1.10,0.00,0.000,1030,0.000,0.032,1773,1941,3063,3063,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.48,54.05
$GC,211,-1.78,-487.5,1772,1941,3063,4095,26.5,-14.6,27,219,0.00,1.05,0.00,0.000,516,0.000,0.053,1772,1526,3063,3063,4095,0,0,0,0,0,0,26.44,26.10,26.46,10.45,53.22
$GC,296,-1.78,-487.5,1772,1526,3066,4095,37.5,-12.8,39,306,0.00,0.93,0.00,0.000,1030,0.000,0.027,1772,1931,3066,3066,4095,0,0,0,0,0,0,26.27,26.24,26.29,10.38,51.45
$GC,344,-1.78,-487.5,1771,1930,3066,4095,43.3,-12.3,45,353,0.00,1.12,0.00,0.000,260,0.000,0.044,1772,2363,3067,3067,4095,0,0,0,0,0,0,26.51,26.17,26.53,10.37,50.07
$GC,418,-1.78,-487.5,1772,2362,3068,4095,52.5,-12.7,55,428,0.00,1.10,0.00,0.000,1030,0.000,0.032,1772,1923,3068,3068,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.35,49.01
$GC,467,-1.78,-487.5,1772,1924,3069,4094,58.9,-13.3,61,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1923,3070,3070,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.35,48.18
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,492,-0.45,0.0,1772,2133,3070,4094,61.7,-13.3,63,527,4.45,0.00,28.40,1.321,10244,0.056,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.23,25.34,24.29,10.34,48.11
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,532,1.78,487.5,2186,2133,2484,4094,65.0,0.0,67,577,7.55,0.00,28.02,1.294,11270,0.031,0.000,2893,2134,1914,1914,4094,0,0,0,0,0,0,25.60,25.76,23.89,10.21,47.36
$GC,616,1.78,487.5,2892,2133,1914,4094,58.5,12.4,77,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1914,1914,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.09,46.49
$GC,664,1.78,487.5,2892,2133,1913,4094,52.3,13.2,83,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1912,1912,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.08,46.45
$GC,712,1.78,487.5,2892,2133,1911,4094,45.9,12.9,89,722,0.00,1.12,0.00,0.000,516,0.000,0.045,2893,1713,1911,1911,4094,0,0,0,0,0,0,25.91,25.60,25.93,10.07,46.41
$GC,798,1.78,487.5,2892,1713,1909,4094,34.4,12.6,101,808,0.00,1.02,0.00,0.000,1030,0.000,0.028,2893,2129,1908,1908,4094,0,0,0,0,0,0,25.84,25.80,25.86,10.06,47.40
$GC,846,1.78,487.5,2892,2129,1908,4094,28.6,11.9,107,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1907,1907,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.06,47.08
$GC,893,1.78,487.5,2892,2129,1906,4094,23.0,11.8,113,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1906,1906,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.09,48.34
$GC,939,1.84,527.5,2892,2129,1905,4094,18.4,9.9,119,949,0.10,1.10,3.53,0.406,10756,0.080,0.046,2910,1713,1867,1867,4095,0,0,0,0,0,0,26.04,25.75,24.79,10.14,50.00
$GC,1049,1.89,559.8,2909,1713,1865,4095,8.0,10.0,134,1060,0.10,1.02,3.35,0.334,11270,0.051,0.029,2929,2134,1830,1830,4094,0,0,0,0,0,0,26.05,26.05,24.96,10.17,52.79
$GC,1100,1.89,559.8,2928,2134,1828,4094,2.2,11.8,140,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2134,1828,1828,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.17,53.22
$STATE,1116,end climb,SURFACE_DEPTH_REACHED
$STATE,1116,begin surface coast
$FINISH,0.2,1.012160
$STATE,1137,end surface coast,CONTROL_FINISHED_OK
$STATE,1137,begin surface
$SM_CCo,1240,0.00,0.000,0,0,1827,564.96
$SM_GC,1.02,28.23,0.47,0.00,0.021,0.040,0.000,230,1953,1827,-6.59,1.32,564.96,0,0,0,0,0,0,25.98,26.09,26.09
$IRIDIUM_FIX,6149.06,-17422.35,200817,163929
$TT8_MAMPS,0.026215,0.238182
$HUMID,53.58
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.89,39.680
$10V_AH,10.15,40.082
$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,46.875,12.250,63.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,415.109,59.596,134.682,604.058,93.115,0.000,357.026,0.000,354.224,0.000,0.541,0.000
$DEVICE_MAMPS,79.560,1256.895,1321.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.516,393.984,311.882,462.121,601.753,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,14326,145
$CAP_FILE_SIZE,28574,0
$CFSIZE,1024409600,950501376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,190048,6146.075,-17355.709,5,1.0,34,7.0,0.8,239.7,9,4.9