version: 66.13
glider: 401
mission: 22
dive: 1575
start: 8 23 117 16 57 40
data:
$ID,401
$MISSION,22
$DIVE,1575
$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,29
$R_STBD_OVSHOOT,50
$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
$GPS1,230817,161602,6118.4150,-17351.7207,5,1.0,50,7.0,0.4,49.0,9,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-3.0
$GPS2,230817,161602,6118.4150,-17351.7207,5,1.0,50,7.0,0.4,49.0,9,5.0
$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,169.2,26830,-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,-487.5,2389,1987,2365,4092,0.0,0.0,0,18,5.70,0.00,0.00,0.000,4097,0.023,0.000,1830,1988,2365,2365,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.34,52.67
$GC,23,-1.78,-487.5,1830,1988,2365,4094,0.0,0.0,1,36,0.38,1.25,-6.53,0.000,20996,0.041,1.254,1788,1525,3056,3056,4094,0,0,0,0,0,0,26.08,24.47,26.10,10.34,52.71
$GC,210,-1.78,-487.5,1787,1525,3061,4094,25.2,-14.9,31,216,0.00,0.95,0.00,0.000,1030,0.000,0.027,1788,1935,3061,3061,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.48,52.16
$GC,250,-1.78,-487.5,1787,1935,3062,4095,30.3,-12.8,37,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1936,3062,3062,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.45,52.44
$GC,290,-1.78,-487.5,1787,1936,3062,4095,35.2,-12.7,43,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1936,3062,3062,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.43,51.10
$GC,329,-1.78,-487.5,1787,1936,3064,4095,40.2,-12.5,49,336,0.00,1.12,0.00,0.000,260,0.000,0.045,1788,2366,3064,3064,4094,0,0,0,0,0,0,26.48,26.11,26.49,10.41,50.35
$GC,399,-1.78,-487.5,1788,2366,3065,4094,48.9,-12.1,60,406,0.00,1.05,0.00,0.000,1030,0.000,0.031,1788,1945,3066,3066,4094,0,0,0,0,0,0,26.20,26.19,26.26,10.38,48.93
$GC,440,-1.78,-487.5,1787,1944,3066,4094,53.8,-12.3,66,446,0.00,1.08,0.00,0.000,516,0.000,0.052,1787,1520,3067,3067,4095,0,0,0,0,0,0,26.53,26.14,26.55,10.38,48.77
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,499,-0.45,0.0,1788,2125,3068,4095,60.4,-12.7,74,535,4.25,0.00,28.15,1.305,10244,0.053,0.000,2185,2126,2484,2484,4094,0,0,0,0,0,0,26.18,25.34,24.31,10.37,48.70
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,540,1.78,487.5,2184,2126,2484,4094,63.5,0.0,80,582,7.50,0.00,27.80,1.277,11270,0.031,0.000,2892,2125,1915,1915,4094,0,0,0,0,0,0,25.60,25.77,23.91,10.24,47.28
$GC,616,1.78,487.5,2892,2125,1914,4094,57.3,12.7,92,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1914,1914,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.11,46.45
$GC,656,1.78,487.5,2892,2125,1913,4094,52.0,13.1,98,662,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1716,1913,1913,4094,0,0,0,0,0,0,25.74,25.42,25.75,10.10,46.02
$GC,762,1.78,487.5,2892,1716,1910,4094,37.9,12.1,115,769,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2132,1910,1910,4095,0,0,0,0,0,0,25.77,25.73,25.79,10.10,47.24
$GC,802,1.78,487.5,2892,2132,1909,4095,33.0,12.6,121,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1908,1908,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.10,47.48
$GC,842,1.78,487.5,2892,2131,1907,4094,28.1,12.2,127,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,1907,1907,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.11,48.62
$GC,881,1.78,487.5,2892,2131,1907,4095,23.1,12.0,133,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1907,1907,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.13,48.54
$GC,921,1.85,535.1,2892,2131,1905,4094,19.2,9.8,139,929,0.15,0.00,3.97,0.468,10246,0.060,0.000,2915,2132,1859,1859,4094,0,0,0,0,0,0,26.01,25.60,24.68,10.16,49.88
$GC,963,1.85,535.1,2915,2131,1858,4094,14.9,10.6,145,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2132,1858,1858,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.17,51.61
$GC,1002,1.86,545.4,2915,2131,1857,4094,10.8,10.4,151,1010,0.00,1.10,2.33,0.137,8708,0.000,0.044,2915,1713,1848,1848,4094,0,0,0,0,0,0,26.29,25.71,24.76,10.18,52.04
$STATE,1082,end climb,SURFACE_DEPTH_REACHED
$STATE,1082,begin surface coast
$FINISH,0.0,1.004500
$STATE,1104,end surface coast,CONTROL_FINISHED_OK
$STATE,1104,begin surface
$SM_CCo,1208,0.00,0.000,0,0,1844,550.36
$SM_GC,0.83,28.00,0.57,0.00,0.019,0.030,0.000,230,1970,1844,-6.59,-1.46,550.36,0,0,0,0,0,0,25.92,26.15,26.04
$IRIDIUM_FIX,6144.84,-17201.19,230817,160610
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.58
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.91,44.681
$10V_AH,10.38,44.158
$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,45.975,11.375,62.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.710,337.481,154.347,242.061,98.873,0.000,326.690,0.000,251.218,0.000,0.542,0.000
$DEVICE_MAMPS,59.670,1253.835,1305.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.438,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330648
$DATA_FILE_SIZE,10732,167
$CAP_FILE_SIZE,28564,0
$CFSIZE,1024409600,942096384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,171851,6118.244,-17351.420,4,0.8,22,7.0,0.0,338.2,11,4.7