version: 66.13
glider: 401
mission: 22
dive: 1638
start: 8 24 117 19 10 4
data:
$ID,401
$MISSION,22
$DIVE,1638
$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,27
$R_STBD_OVSHOOT,38
$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
$GPS1,240817,182854,6110.0625,-17353.9316,8,1.0,17,7.0,0.8,44.4,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.3
$GPS2,240817,182854,6110.0625,-17353.9316,8,1.0,17,7.0,0.8,44.4,9,4.7
$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,154.6,11910,-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,-487.5,2379,1969,2393,4092,0.0,0.0,0,21,6.20,0.00,-2.28,0.000,20482,0.023,0.000,1774,1969,2638,2638,4094,0,0,0,0,0,0,26.14,28.83,26.20,10.32,52.95
$GC,26,-1.78,-487.5,1774,1969,2638,4094,0.0,0.0,1,35,0.00,0.00,-3.80,0.000,16390,0.000,0.000,1773,1969,3052,3052,4095,0,0,0,0,0,0,26.40,25.55,26.41,10.38,52.87
$GC,73,-1.78,-487.5,1773,1969,3053,4095,4.3,-13.3,7,81,0.00,1.05,0.00,0.000,260,0.000,0.044,1774,2367,3054,3054,4095,0,0,0,0,0,0,26.34,25.98,26.36,10.46,53.15
$GC,146,-1.78,-487.5,1773,2367,3056,4095,16.6,-17.2,17,155,0.00,1.05,0.00,0.000,1030,0.000,0.031,1774,1949,3056,3056,4095,0,0,0,0,0,0,26.11,26.07,26.14,10.47,52.55
$GC,195,-1.78,-487.5,1773,1948,3058,4095,24.4,-16.2,23,203,0.00,1.08,0.00,0.000,516,0.000,0.052,1774,1524,3058,3058,4094,0,0,0,0,0,0,26.44,26.06,26.44,10.45,52.52
$GC,261,-1.78,-487.5,1773,1524,3059,4094,34.0,-14.3,32,271,0.00,0.95,0.00,0.000,1030,0.000,0.025,1774,1936,3060,3060,4095,0,0,0,0,0,0,26.22,26.20,26.22,10.42,51.89
$GC,309,-1.78,-487.5,1773,1935,3060,4095,40.1,-12.7,38,318,0.00,1.12,0.00,0.000,260,0.000,0.045,1773,2366,3060,3060,4094,0,0,0,0,0,0,26.49,26.10,26.51,10.41,51.10
$GC,383,-1.78,-487.5,1773,2366,3062,4094,49.6,-13.1,48,392,0.00,1.05,0.00,0.000,1030,0.000,0.031,1774,1945,3062,3062,4094,0,0,0,0,0,0,26.22,26.20,26.26,10.39,49.76
$GC,432,-1.78,-487.5,1773,1945,3064,4094,55.4,-12.1,54,441,0.00,1.08,0.00,0.000,516,0.000,0.054,1773,1523,3064,3064,4094,0,0,0,0,0,0,26.55,26.14,26.55,10.38,49.88
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,480,-0.45,0.0,1773,2122,3064,4094,60.8,-12.9,59,515,4.43,0.00,28.10,1.314,10244,0.053,0.000,2185,2123,2484,2484,4094,0,0,0,0,0,0,26.18,25.34,24.31,10.38,49.13
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,520,1.78,487.5,2184,2122,2484,4094,64.1,0.0,63,565,7.50,0.00,27.92,1.281,11270,0.031,0.000,2893,2122,1917,1917,4094,0,0,0,0,0,0,25.60,25.77,23.90,10.25,47.79
$GC,606,1.78,487.5,2892,2122,1916,4094,56.9,13.7,73,615,0.00,1.10,0.00,0.000,516,0.000,0.045,2893,1712,1915,1915,4094,0,0,0,0,0,0,25.61,25.31,25.62,10.11,46.53
$GC,705,1.78,487.5,2892,1711,1913,4094,42.7,13.2,87,715,0.00,1.05,0.00,0.000,1030,0.000,0.030,2893,2134,1912,1912,4094,0,0,0,0,0,0,25.68,25.65,25.71,10.11,47.99
$GC,753,1.78,487.5,2892,2133,1911,4094,36.4,13.5,93,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1910,1910,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.12,47.24
$GC,800,1.78,487.5,2892,2134,1910,4094,30.3,13.0,99,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1909,1909,4095,0,0,0,0,0,0,26.11,26.13,26.13,10.12,48.18
$GC,847,1.78,487.5,2892,2133,1908,4095,24.6,11.9,105,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1908,1908,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.13,48.70
$GC,893,1.78,487.5,2892,2133,1907,4094,19.4,11.4,111,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1907,1907,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,49.21
$GC,939,1.78,487.5,2892,2134,1905,4094,14.4,10.7,117,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1905,1905,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.17,50.55
$GC,986,1.78,487.5,2892,2133,1905,4094,9.1,11.7,123,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1904,1904,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.18,51.53
$GC,1033,1.78,487.5,2892,2133,1903,4094,3.6,11.5,129,1042,0.00,1.12,0.00,0.000,516,0.000,0.047,2893,1709,1902,1902,4094,0,0,0,0,0,0,26.36,25.97,26.37,10.20,51.73
$STATE,1050,end climb,SURFACE_DEPTH_REACHED
$STATE,1050,begin surface coast
$FINISH,0.1,1.024416
$STATE,1065,end surface coast,CONTROL_FINISHED_OK
$STATE,1065,begin surface
$SM_CCo,1170,0.00,0.000,0,0,1902,500.56
$SM_GC,1.08,27.77,0.60,0.00,0.021,0.034,0.000,230,1965,1902,-6.59,-1.37,500.56,0,0,0,0,0,0,26.06,26.10,26.12
$IRIDIUM_FIX,6149.06,-17422.35,240817,171156
$TT8_MAMPS,0.025466,0.238182
$HUMID,52.67
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.90,46.538
$10V_AH,10.15,45.688
$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,45.900,13.350,56.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.162,61.403,138.678,552.038,104.798,0.000,359.272,0.000,324.463,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,53.550,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.568,361.327,285.946,423.826,550.817,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,14454,133
$CAP_FILE_SIZE,27708,0
$CFSIZE,1024409600,938999808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,193034,6109.954,-17353.119,8,0.8,18,7.0,0.0,53.3,10,4.8