version: 66.13
glider: 401
mission: 22
dive: 1578
start: 8 23 117 18 11 52
data:
$ID,401
$MISSION,22
$DIVE,1578
$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,28
$R_STBD_OVSHOOT,52
$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
$GPS1,230817,173042,6118.3071,-17351.3750,5,0.8,22,7.0,0.0,300.6,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.5
$GPS2,230817,173042,6118.3071,-17351.3750,5,0.8,22,7.0,0.0,300.6,11,5.0
$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,169.8,26611,-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,-487.5,2392,1982,2370,4092,0.0,0.0,0,20,6.43,0.00,-1.48,0.000,20482,0.026,0.000,1769,1982,2528,2528,4095,0,0,0,0,0,0,26.08,28.83,26.13,10.34,53.54
$GC,25,-1.78,-487.5,1770,1982,2528,4095,0.2,0.0,1,35,0.00,1.30,-5.00,0.000,16900,0.000,1.260,1770,1525,3057,3057,4095,0,0,0,0,0,0,26.32,24.46,26.33,10.36,53.81
$GC,252,-1.78,-487.5,1769,1524,3062,4095,26.0,-15.4,34,262,0.00,0.95,0.00,0.000,1030,0.000,0.028,1770,1932,3063,3063,4094,0,0,0,0,0,0,26.21,26.18,26.23,10.48,53.07
$GC,301,-1.78,-487.5,1769,1933,3064,4094,32.3,-13.2,40,311,0.00,1.15,0.00,0.000,260,0.000,0.045,1770,2372,3064,3064,4095,0,0,0,0,0,0,26.48,26.10,26.48,10.44,52.83
$GC,375,-1.78,-487.5,1769,2372,3065,4095,41.4,-12.5,50,385,0.00,1.05,0.00,0.000,1030,0.000,0.031,1770,1950,3065,3065,4095,0,0,0,0,0,0,26.22,26.18,26.25,10.41,50.47
$GC,423,-1.78,-487.5,1769,1950,3066,4095,47.3,-12.2,56,432,0.00,1.08,0.00,0.000,516,0.000,0.051,1770,1520,3067,3067,4095,0,0,0,0,0,0,26.53,26.15,26.54,10.39,49.17
$GC,503,-1.78,-487.5,1769,1520,3068,4095,57.7,-13.2,67,513,0.00,1.00,0.00,0.000,1030,0.000,0.027,1769,1949,3068,3068,4095,0,0,0,0,0,0,26.32,26.29,26.34,10.38,47.79
$STATE,520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,530,-0.45,0.0,1769,2140,3069,4095,60.6,-13.3,69,566,4.47,0.00,28.35,1.307,10244,0.054,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.20,25.34,24.32,10.38,47.83
$STATE,567,end apogee,CONTROL_FINISHED_OK
$STATE,568,begin climb
$GC,572,1.78,487.5,2186,2140,2484,4094,63.9,0.0,73,616,7.50,0.00,27.98,1.278,11270,0.031,0.000,2892,2140,1915,1915,4094,0,0,0,0,0,0,25.61,25.77,23.92,10.24,46.85
$GC,656,1.78,487.5,2892,2140,1915,4094,57.3,12.4,83,665,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1718,1914,1914,4094,0,0,0,0,0,0,25.61,25.31,25.63,10.11,46.14
$GC,743,1.78,487.5,2892,1718,1911,4094,45.6,13.4,95,752,0.00,1.00,0.00,0.000,1030,0.000,0.030,2893,2123,1911,1911,4094,0,0,0,0,0,0,25.67,25.63,25.69,10.10,46.10
$GC,791,1.78,487.5,2892,2122,1910,4094,39.2,12.9,101,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1910,1910,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.10,46.41
$GC,837,1.78,487.5,2892,2122,1909,4094,33.2,13.0,107,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1908,1908,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.10,46.69
$GC,883,1.78,487.5,2892,2122,1907,4094,27.3,12.6,113,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1907,1907,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,47.24
$GC,930,1.78,487.5,2892,2122,1906,4094,22.0,11.1,119,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1906,1906,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,48.66
$GC,977,1.78,487.5,2892,2122,1905,4094,17.1,11.0,125,986,0.00,1.08,0.00,0.000,516,0.000,0.045,2893,1715,1905,1905,4094,0,0,0,0,0,0,26.27,25.91,26.28,10.17,50.27
$GC,1109,1.96,610.7,2892,1714,1901,4094,3.9,8.7,144,1127,0.55,0.98,7.53,0.544,11270,0.028,0.031,2952,2116,1768,1768,4094,0,0,0,0,0,0,26.13,26.06,24.96,10.20,52.59
$STATE,1135,end climb,SURFACE_DEPTH_REACHED
$STATE,1135,begin surface coast
$FINISH,0.1,1.013427
$STATE,1157,end surface coast,CONTROL_FINISHED_OK
$STATE,1157,begin surface
$SM_CCo,1262,0.00,0.000,0,0,1768,615.62
$SM_GC,0.48,28.42,0.43,0.00,0.019,0.056,0.000,230,1958,1768,-6.59,1.55,615.62,0,0,0,0,0,0,25.91,26.02,26.02
$IRIDIUM_FIX,6149.06,-17422.35,230817,172350
$TT8_MAMPS,0.025466,0.26215
$HUMID,52.52
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.92,44.768
$10V_AH,10.14,44.241
$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,47.375,12.150,63.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,416.061,60.209,132.130,625.214,95.334,0.000,351.909,0.000,364.676,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1259.955,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.824,407.556,322.529,478.176,624.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,14323,150
$CAP_FILE_SIZE,26944,0
$CFSIZE,1024409600,941948928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,183406,6118.125,-17350.648,5,1.0,31,7.0,0.3,293.1,9,4.9