version: 66.13
glider: 401
mission: 22
dive: 1680
start: 8 25 117 12 22 4
data:
$ID,401
$MISSION,22
$DIVE,1680
$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,24
$R_STBD_OVSHOOT,58
$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
$GPS1,250817,114101,6106.0850,-17351.6582,6,0.9,18,7.0,0.0,276.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-4.2
$GPS2,250817,114101,6106.0850,-17351.6582,6,0.9,18,7.0,0.0,276.9,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W18S
$TGT_LATLONG,6044.340,-17338.881
$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,157.0,41900,-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,-487.5,2384,1994,2378,4092,0.0,0.0,0,20,6.28,0.00,-1.20,0.000,20482,0.025,0.000,1774,1994,2510,2510,4094,0,0,0,0,0,0,26.15,28.83,26.21,10.34,53.03
$GC,25,-1.78,-487.5,1774,1994,2510,4094,0.1,0.0,1,35,0.00,1.02,-5.07,0.000,16644,0.000,1.253,1774,2353,3057,3057,4094,0,0,0,0,0,0,26.42,24.42,26.43,10.37,53.18
$GC,228,-1.78,-487.5,1773,2354,3061,4094,23.0,-12.7,30,237,0.00,1.02,0.00,0.000,1030,0.000,0.031,1773,1943,3062,3062,4094,0,0,0,0,0,0,26.20,26.15,26.22,10.49,53.22
$GC,277,-1.78,-487.5,1773,1943,3063,4094,29.7,-13.3,36,286,0.00,1.05,0.00,0.000,516,0.000,0.051,1773,1525,3063,3063,4095,0,0,0,0,0,0,26.51,26.11,26.53,10.46,52.32
$GC,358,-1.78,-487.5,1773,1525,3065,4095,40.3,-13.1,47,367,0.00,0.90,0.00,0.000,1030,0.000,0.027,1773,1921,3065,3065,4094,0,0,0,0,0,0,26.32,26.29,26.33,10.42,50.86
$GC,407,-1.78,-487.5,1773,1921,3066,4094,46.2,-11.7,53,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1921,3066,3066,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.41,50.15
$GC,456,-1.78,-487.5,1773,1920,3067,4095,51.9,-11.8,59,466,0.00,1.12,0.00,0.000,260,0.000,0.044,1773,2357,3067,3067,4095,0,0,0,0,0,0,26.59,26.20,26.60,10.39,49.29
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,530,-0.45,0.0,1773,2117,3069,4094,60.5,-12.7,68,566,4.43,0.00,28.30,1.319,10244,0.054,0.000,2186,2117,2483,2483,4095,0,0,0,0,0,0,26.22,25.38,24.34,10.38,49.05
$STATE,567,end apogee,CONTROL_FINISHED_OK
$STATE,567,begin climb
$GC,572,1.78,487.5,2186,2117,2483,4095,63.6,0.0,72,617,7.47,0.00,27.80,1.281,11270,0.031,0.000,2892,2117,1917,1917,4094,0,0,0,0,0,0,25.64,25.82,23.91,10.26,47.75
$GC,657,1.78,487.5,2891,2117,1915,4094,56.4,13.0,82,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2117,1915,1915,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.13,46.65
$GC,705,1.78,487.5,2891,2117,1914,4094,49.8,13.6,88,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2117,1914,1914,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.13,47.48
$GC,754,1.78,487.5,2891,2117,1912,4094,43.2,13.8,94,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2117,1912,1912,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.12,47.00
$GC,803,1.78,487.5,2891,2116,1911,4094,36.7,13.2,100,812,0.00,0.98,0.00,0.000,516,0.000,0.047,2892,1739,1910,1910,4094,0,0,0,0,0,0,26.06,25.69,26.07,10.13,47.67
$GC,896,1.78,487.5,2891,1738,1907,4094,25.5,11.1,113,906,0.00,0.90,0.00,0.000,1030,0.000,0.029,2892,2111,1908,1908,4094,0,0,0,0,0,0,25.94,25.91,25.97,10.15,48.54
$GC,945,1.78,487.5,2891,2111,1907,4094,20.2,11.5,119,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2111,1907,1907,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.17,49.52
$GC,993,1.78,487.5,2891,2111,1905,4094,14.9,11.2,125,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2111,1905,1905,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.19,51.10
$GC,1041,1.78,487.5,2892,2111,1905,4094,9.4,10.8,131,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2111,1905,1905,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.20,51.41
$GC,1090,1.78,487.5,2891,2111,1903,4094,4.0,10.6,137,1099,0.00,0.98,0.00,0.000,516,0.000,0.046,2892,1735,1903,1903,4094,0,0,0,0,0,0,26.39,25.99,26.39,10.21,51.85
$STATE,1107,end climb,SURFACE_DEPTH_REACHED
$STATE,1107,begin surface coast
$FINISH,0.1,1.002599
$STATE,1128,end surface coast,CONTROL_FINISHED_OK
$STATE,1128,begin surface
$SM_CCo,1232,0.00,0.000,0,0,1902,500.56
$SM_GC,1.11,27.62,0.52,0.00,0.021,0.031,0.000,230,1976,1902,-6.59,-1.46,500.56,0,0,0,0,0,0,26.01,26.18,26.10
$IRIDIUM_FIX,6149.06,-17422.35,250817,102030
$TT8_MAMPS,0.025466,0.23968
$HUMID,52.20
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.91,47.737
$10V_AH,10.16,46.683
$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,45.800,9.650,56.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,413.415,59.624,130.192,592.235,104.355,0.000,346.462,0.000,345.629,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1253.070,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.033,385.846,305.312,452.682,590.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330616
$DATA_FILE_SIZE,14279,142
$CAP_FILE_SIZE,26335,0
$CFSIZE,1024409600,936935424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,124338,6105.384,-17352.096,5,0.8,20,7.0,0.5,275.1,10,5.0