version: 66.13
glider: 401
mission: 22
dive: 1851
start: 8 28 117 10 37 50
data:
$ID,401
$MISSION,22
$DIVE,1851
$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,600
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,29
$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
$GPS1,280817,095655,6042.7998,-17346.4355,7,0.8,19,7.0,0.5,323.2,10,5.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-4.0
$GPS2,280817,095655,6042.7998,-17346.4355,7,0.8,19,7.0,0.5,323.2,10,5.0
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W19S
$TGT_LATLONG,6025.500,-17335.520
$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,155.7,33557,-10.3,-10.526,-13.92,8308
$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,6,begin dive
$GC,11,-1.82,-585.0,2397,1952,2384,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,4097,0.020,0.000,1835,1953,2384,2384,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.33,52.95
$GC,24,-1.82,-585.0,1834,1952,2384,4094,0.2,0.0,1,38,0.52,1.23,-7.32,0.000,20996,0.038,1.256,1775,1518,3171,3171,4095,0,0,0,0,0,0,26.07,24.27,26.10,10.33,53.03
$GC,194,-1.82,-585.0,1774,1518,3176,4095,23.2,-15.4,28,201,0.00,1.02,0.00,0.000,1030,0.000,0.026,1775,1954,3175,3175,4095,0,0,0,0,0,0,26.17,26.13,26.18,10.47,53.26
$GC,235,-1.82,-585.0,1774,1954,3177,4095,28.7,-13.3,34,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3177,3177,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.46,52.36
$GC,275,-1.82,-585.0,1774,1955,3177,4094,33.4,-11.0,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1956,3177,3177,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.45,51.65
$GC,315,-1.82,-585.0,1774,1955,3178,4095,37.7,-11.0,46,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1956,3178,3178,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.43,50.74
$GC,355,-1.82,-585.0,1774,1956,3179,4094,42.4,-12.1,52,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1956,3179,3179,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.42,50.23
$GC,395,-1.82,-585.0,1774,1955,3180,4095,47.2,-12.3,58,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1955,3180,3180,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.39,49.56
$GC,435,-1.82,-585.0,1774,1956,3181,4095,52.1,-12.7,64,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1956,3181,3181,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.40,49.48
$GC,475,-1.82,-585.0,1774,1955,3182,4095,57.2,-13.0,70,482,0.00,1.08,0.00,0.000,260,0.000,0.045,1775,2367,3182,3182,4094,0,0,0,0,0,0,26.55,26.13,26.57,10.40,49.56
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,505,-0.45,0.0,1775,2111,3182,4095,60.1,-12.5,73,547,4.38,0.00,33.42,1.316,10244,0.050,0.000,2186,2109,2484,2484,4094,0,0,0,0,0,0,26.15,25.20,24.15,10.39,49.48
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,553,1.82,585.0,2186,2109,2484,4094,63.2,0.0,80,600,7.60,0.00,33.12,1.278,11270,0.030,0.000,2902,2109,1803,1803,4094,0,0,0,0,0,0,25.49,25.66,23.75,10.25,48.74
$GC,635,1.82,585.0,2902,2109,1802,4094,55.9,13.1,93,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2109,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.09,47.28
$GC,675,1.82,585.0,2902,2109,1800,4094,50.1,14.5,99,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2109,1800,1800,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.09,47.51
$GC,715,1.82,585.0,2902,2109,1799,4094,44.3,14.7,105,721,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2109,1799,1799,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.09,47.32
$GC,755,1.82,585.0,2902,2109,1797,4094,38.5,14.7,111,762,0.00,0.98,0.00,0.000,516,0.000,0.044,2903,1734,1797,1797,4094,0,0,0,0,0,0,25.91,25.55,25.92,10.08,47.95
$GC,874,1.82,585.0,2902,1733,1794,4094,22.8,12.0,130,881,0.00,0.98,0.00,0.000,1030,0.000,0.028,2903,2133,1794,1794,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.10,49.01
$GC,915,1.82,585.0,2902,2132,1793,4094,18.3,10.9,136,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1793,1793,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.11,50.15
$GC,955,1.82,585.0,2902,2132,1791,4094,13.6,11.7,142,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1790,1790,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.13,51.41
$GC,995,1.82,585.0,2902,2132,1790,4094,8.8,11.8,148,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1790,1790,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.15,52.36
$GC,1036,1.97,684.5,2902,2132,1789,4094,4.8,9.3,154,1048,0.43,0.00,6.38,0.526,10246,0.032,0.000,2951,2133,1684,1684,4095,0,0,0,0,0,0,26.08,25.31,24.79,10.16,52.63
$STATE,1060,end climb,SURFACE_DEPTH_REACHED
$STATE,1060,begin surface coast
$FINISH,0.1,1.024344
$STATE,1079,end surface coast,CONTROL_FINISHED_OK
$STATE,1079,begin surface
$SM_CCo,1186,0.00,0.000,0,0,1682,688.60
$SM_GC,0.86,28.38,0.43,0.00,0.020,0.049,0.000,231,1974,1682,-6.59,2.23,688.60,0,0,0,0,0,0,25.93,25.96,26.01
$IRIDIUM_FIX,5952.82,-17420.78,280817,094829
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.91
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.75,53.205
$10V_AH,10.36,50.741
$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,46.975,6.775,72.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,420.345,309.262,173.309,234.195,118.048,0.000,349.376,0.000,242.756,0.000,0.541,0.000
$DEVICE_MAMPS,50.490,1256.130,1315.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330600
$DATA_FILE_SIZE,10809,161
$CAP_FILE_SIZE,28739,0
$CFSIZE,1024409600,928530432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,105837,6042.362,-17345.766,8,1.1,18,7.0,0.5,34.2,10,4.8