version: 66.13
glider: 401
mission: 22
dive: 1419
start: 8 21 117 1 4 38
data:
$ID,401
$MISSION,22
$DIVE,1419
$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,18
$R_STBD_OVSHOOT,36
$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
$GPS1,210817,001846,6143.8081,-17358.2715,7,0.9,28,7.0,0.6,304.2,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-2.8
$GPS2,210817,001846,6143.8081,-17358.2715,7,0.9,28,7.0,0.6,304.2,11,4.9
$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,153.6,37603,-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,-487.5,2399,1962,2353,4092,0.0,0.0,0,18,6.25,0.00,0.00,0.000,4097,0.022,0.000,1789,1962,2353,2353,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.30,54.13
$GC,22,-1.78,-487.5,1788,1962,2353,4094,0.1,0.0,1,35,0.00,1.20,-6.43,0.000,16900,0.000,1.270,1789,1518,3056,3056,4094,0,0,0,0,0,0,26.32,24.51,26.34,10.31,53.66
$GC,185,-1.78,-487.5,1787,1517,3061,4094,24.5,-16.3,27,192,0.00,1.02,0.00,0.000,1030,0.000,0.028,1788,1950,3061,3061,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.46,53.42
$GC,226,-1.78,-487.5,1788,1950,3062,4095,29.8,-11.9,33,232,0.00,1.10,0.00,0.000,260,0.000,0.047,1788,2372,3062,3062,4095,0,0,0,0,0,0,26.40,26.06,26.41,10.41,52.83
$GC,284,-1.78,-487.5,1788,2372,3062,4095,37.0,-12.3,42,290,0.00,1.12,0.00,0.000,1030,0.000,0.032,1788,1927,3063,3063,4095,0,0,0,0,0,0,26.19,26.15,26.22,10.38,52.20
$GC,324,-1.78,-487.5,1788,1926,3064,4095,42.0,-12.4,48,330,0.00,1.02,0.00,0.000,516,0.000,0.054,1788,1521,3064,3064,4095,0,0,0,0,0,0,26.46,26.11,26.47,10.37,50.70
$GC,394,-1.78,-487.5,1788,1521,3066,4095,51.1,-13.1,59,400,0.00,0.95,0.00,0.000,1030,0.000,0.027,1788,1932,3066,3066,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.35,48.97
$GC,434,-1.78,-487.5,1788,1932,3067,4095,56.2,-12.4,65,440,0.00,1.12,0.00,0.000,260,0.000,0.044,1788,2365,3067,3067,4095,0,0,0,0,0,0,26.51,26.17,26.52,10.34,48.97
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,473,-0.45,0.0,1788,2119,3067,4095,60.5,-12.8,70,509,4.28,0.00,28.25,1.310,10244,0.054,0.000,2184,2119,2484,2484,4094,0,0,0,0,0,0,26.20,25.31,24.27,10.34,48.77
$STATE,510,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,514,1.78,487.5,2184,2119,2484,4094,63.7,0.0,76,556,7.53,0.00,27.88,1.281,11270,0.031,0.000,2890,2119,1916,1916,4094,0,0,0,0,0,0,25.58,25.73,23.85,10.21,47.95
$GC,589,1.78,487.5,2889,2118,1915,4094,57.9,12.1,88,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2119,1915,1915,4094,0,0,0,0,0,0,25.54,25.56,25.56,10.08,46.65
$GC,629,1.78,487.5,2889,2118,1913,4094,52.6,13.0,94,635,0.00,1.02,0.00,0.000,516,0.000,0.046,2890,1729,1913,1913,4094,0,0,0,0,0,0,25.72,25.43,25.73,10.08,46.69
$GC,765,1.78,487.5,2889,1728,1909,4094,35.1,12.7,116,771,0.00,0.98,0.00,0.000,1030,0.000,0.030,2890,2123,1909,1909,4094,0,0,0,0,0,0,25.81,25.77,25.84,10.06,48.03
$GC,805,1.78,487.5,2890,2122,1908,4094,30.2,12.3,122,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2123,1908,1908,4095,0,0,0,0,0,0,26.10,26.13,26.12,10.06,48.70
$GC,844,1.78,487.5,2890,2122,1907,4095,25.3,12.2,128,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2123,1907,1907,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.07,48.42
$GC,884,1.89,562.1,2889,2122,1906,4094,21.4,9.4,134,897,0.30,0.00,5.40,0.598,10246,0.041,0.000,2929,2123,1827,1827,4094,0,0,0,0,0,0,25.98,25.32,24.73,10.11,49.40
$GC,930,2.01,643.8,2928,2122,1827,4094,16.8,9.3,141,943,0.32,0.00,5.90,0.593,10246,0.037,0.000,2972,2123,1732,1732,4094,0,0,0,0,0,0,25.97,25.33,24.76,10.13,51.77
$GC,977,2.10,701.2,2971,2122,1732,4094,12.4,9.7,148,991,0.15,1.17,4.80,0.494,10500,0.057,0.051,2993,2568,1666,1666,4094,0,0,0,0,0,0,25.96,25.67,24.79,10.13,52.24
$STATE,1068,end climb,SURFACE_DEPTH_REACHED
$STATE,1068,begin surface coast
$FINISH,0.1,1.001333
$STATE,1089,end surface coast,CONTROL_FINISHED_OK
$STATE,1090,begin surface
$SM_CCo,1195,0.00,0.000,0,0,1662,706.63
$SM_GC,0.97,28.88,1.58,0.00,0.021,0.031,0.000,238,1970,1662,-6.55,2.05,706.63,0,0,0,0,0,0,26.06,25.96,26.09
$IRIDIUM_FIX,6149.06,-17422.35,200817,230008
$TT8_MAMPS,0.025466,0.102613
$HUMID,53.74
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.85,40.140
$10V_AH,10.38,40.446
$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,47.700,14.475,72.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,436.120,333.677,164.970,240.201,87.386,0.000,337.136,0.000,249.852,0.000,0.541,0.000
$DEVICE_MAMPS,56.610,1269.900,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10849,166
$CAP_FILE_SIZE,28928,0
$CFSIZE,1024409600,949764096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,012550,6143.846,-17358.619,5,0.9,37,7.0,0.4,273.7,10,4.5