version: 66.13
glider: 401
mission: 22
dive: 1560
start: 8 23 117 10 31 43
data:
$ID,401
$MISSION,22
$DIVE,1560
$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,32
$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
$GPS1,230817,094931,6121.5415,-17349.1484,8,1.1,53,7.0,0.2,57.8,8,3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.1
$GPS2,230817,094931,6121.5415,-17349.1484,8,1.1,53,7.0,0.2,57.8,8,3.1
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,173.9,32565,-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,-487.5,2395,1957,2358,4092,0.0,0.0,0,21,6.38,0.00,-2.40,0.000,20482,0.019,0.000,1771,1957,2621,2621,4094,0,0,0,0,0,0,26.20,28.83,26.25,10.32,54.52
$GC,26,-1.78,-487.5,1770,1957,2620,4094,0.2,0.0,1,36,0.00,1.17,-3.92,0.000,16900,0.000,1.268,1771,1519,3055,3055,4095,0,0,0,0,0,0,26.44,24.56,26.44,10.38,54.13
$GC,188,-1.78,-487.5,1770,1518,3060,4095,23.0,-15.9,24,198,0.00,1.02,0.00,0.000,1030,0.000,0.028,1771,1948,3060,3060,4094,0,0,0,0,0,0,26.22,26.19,26.24,10.46,53.54
$GC,236,-1.78,-487.5,1770,1948,3061,4094,30.2,-13.6,30,245,0.00,1.10,0.00,0.000,260,0.000,0.047,1770,2372,3062,3062,4094,0,0,0,0,0,0,26.48,26.11,26.49,10.43,53.15
$GC,316,-1.78,-487.5,1770,2372,3063,4094,40.6,-12.8,41,326,0.00,1.05,0.00,0.000,1030,0.000,0.031,1771,1949,3063,3063,4095,0,0,0,0,0,0,26.24,26.20,26.27,10.39,50.98
$GC,364,-1.78,-487.5,1770,1948,3065,4095,46.7,-13.0,47,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1949,3065,3065,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.38,50.23
$GC,411,-1.78,-487.5,1770,1949,3066,4094,52.6,-12.9,53,420,0.00,1.08,0.00,0.000,516,0.000,0.052,1770,1523,3066,3066,4095,0,0,0,0,0,0,26.56,26.17,26.57,10.37,49.37
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,460,begin apogee
$GC,472,-0.45,0.0,1770,2136,3067,4094,60.0,-14.1,60,508,4.47,0.00,28.23,1.320,10244,0.054,0.000,2186,2136,2484,2484,4094,0,0,0,0,0,0,26.21,25.35,24.32,10.36,48.62
$STATE,509,end apogee,CONTROL_FINISHED_OK
$STATE,509,begin climb
$GC,513,1.78,487.5,2186,2136,2484,4094,63.6,0.0,64,558,7.55,0.00,27.95,1.287,11270,0.031,0.000,2892,2136,1915,1915,4094,0,0,0,0,0,0,25.62,25.78,23.90,10.24,47.59
$GC,597,1.78,487.5,2892,2136,1914,4094,57.4,11.7,74,607,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1720,1914,1914,4094,0,0,0,0,0,0,25.61,25.31,25.63,10.10,46.25
$GC,679,1.78,487.5,2892,1719,1911,4094,46.6,13.2,85,688,0.00,1.05,0.00,0.000,1030,0.000,0.031,2892,2140,1911,1911,4094,0,0,0,0,0,0,25.65,25.61,25.68,10.09,46.61
$GC,728,1.78,487.5,2892,2140,1911,4094,40.3,12.4,91,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2140,1910,1910,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.08,46.65
$GC,777,1.78,487.5,2892,2140,1908,4094,34.1,12.5,97,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2140,1909,1909,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.09,47.36
$GC,825,1.78,487.5,2892,2140,1907,4094,28.2,11.9,103,834,0.00,1.10,0.00,0.000,516,0.000,0.046,2893,1720,1907,1907,4094,0,0,0,0,0,0,26.16,25.82,26.17,10.10,47.63
$GC,907,1.78,487.5,2892,1719,1905,4094,18.9,10.9,114,916,0.00,1.00,0.00,0.000,1030,0.000,0.030,2892,2130,1905,1905,4094,0,0,0,0,0,0,26.00,25.97,26.03,10.14,49.52
$GC,956,1.78,490.2,2892,2129,1904,4094,13.7,10.5,120,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2130,1904,1904,4094,0,0,0,0,0,0,26.29,26.32,26.32,10.16,51.26
$GC,1004,1.96,609.9,2892,2129,1903,4094,9.4,8.8,126,1022,0.55,0.00,7.53,0.599,10246,0.033,0.000,2951,2130,1771,1771,4094,0,0,0,0,0,0,26.10,25.42,24.88,10.17,51.61
$GC,1062,2.15,733.7,2951,2129,1770,4094,4.4,8.7,133,1080,0.52,0.00,8.00,0.559,10246,0.032,0.000,3006,2130,1626,1626,4094,0,0,0,0,0,0,26.03,25.40,24.91,10.16,53.03
$STATE,1088,end climb,SURFACE_DEPTH_REACHED
$STATE,1088,begin surface coast
$FINISH,0.1,1.014017
$STATE,1110,end surface coast,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$SM_CCo,1215,0.00,0.000,0,0,1624,739.25
$SM_GC,0.96,29.17,0.45,0.00,0.019,0.051,0.000,230,1957,1624,-6.59,1.69,739.25,0,0,0,0,0,0,25.82,25.95,25.94
$IRIDIUM_FIX,6149.06,-17422.35,230817,094202
$TT8_MAMPS,0.025466,0.240429
$HUMID,52.48
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,3.00
$XPDR_PINGS,0
$24V_AH,23.90,44.224
$10V_AH,10.15,43.795
$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,48.650,12.200,71.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,401.851,60.399,140.863,580.772,98.065,0.000,364.044,0.000,338.273,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1267.605,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.030,377.668,298.938,443.348,578.734,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,14241,139
$CAP_FILE_SIZE,27479,0
$CFSIZE,1024409600,942833664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,105312,6120.620,-17348.959,7,0.8,33,7.0,0.3,117.8,10,4.9