version: 66.13
glider: 401
mission: 22
dive: 1869
start: 8 28 117 18 6 0
data:
$ID,401
$MISSION,22
$DIVE,1869
$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,25
$R_STBD_OVSHOOT,20
$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
$GPS1,280817,172402,6038.8320,-17345.5703,6,0.8,29,7.0,0.2,241.8,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-3.0
$GPS2,280817,172402,6038.8320,-17345.5703,6,0.8,29,7.0,0.2,241.8,11,4.6
$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,152.6,26345,-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,5,begin dive
$GC,11,-1.82,-585.0,2384,1939,2376,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.021,0.000,1830,1939,2376,2376,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.32,53.26
$GC,24,-1.82,-585.0,1830,1939,2376,4094,0.2,0.0,1,37,0.47,1.17,-7.32,0.000,20996,0.035,1.254,1775,1522,3171,3171,4094,0,0,0,0,0,0,26.13,24.27,26.11,10.33,53.38
$GC,248,-1.82,-585.0,1774,1522,3176,4094,29.1,-13.6,37,255,0.00,1.05,0.00,0.000,1030,0.000,0.026,1775,1967,3176,3176,4094,0,0,0,0,0,0,26.20,26.16,26.21,10.44,52.59
$GC,289,-1.82,-585.0,1774,1967,3176,4094,34.5,-13.2,43,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1967,3177,3177,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.43,52.44
$GC,329,-1.82,-585.0,1774,1967,3178,4094,39.8,-13.1,49,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1967,3178,3178,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.42,50.82
$GC,369,-1.82,-585.0,1774,1967,3179,4095,44.9,-12.9,55,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1967,3179,3179,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.41,50.43
$GC,409,-1.82,-585.0,1774,1967,3180,4095,50.1,-12.8,61,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1967,3180,3180,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.40,49.76
$GC,450,-1.82,-585.0,1774,1967,3181,4094,55.3,-12.8,67,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1967,3181,3181,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.40,49.29
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,496,-0.45,0.0,1775,2139,3182,4094,60.5,-12.6,73,538,4.38,0.00,33.40,1.329,10244,0.050,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.15,25.18,24.12,10.39,49.13
$STATE,539,end apogee,CONTROL_FINISHED_OK
$STATE,539,begin climb
$GC,544,1.82,585.0,2184,2139,2484,4094,63.6,0.0,80,591,7.65,0.00,33.20,1.286,11270,0.030,0.000,2902,2140,1800,1800,4094,0,0,0,0,0,0,25.48,25.65,23.72,10.25,48.46
$GC,626,1.82,585.0,2901,2139,1800,4094,56.5,12.7,93,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1799,1799,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.11,47.32
$GC,666,1.82,585.0,2901,2139,1798,4094,51.1,13.4,99,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1798,1798,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.09,47.83
$GC,707,1.82,585.0,2901,2139,1797,4094,45.9,13.5,105,713,0.00,1.15,0.00,0.000,516,0.000,0.043,2902,1711,1797,1797,4094,0,0,0,0,0,0,25.79,25.43,25.81,10.09,48.58
$GC,837,1.82,585.0,2902,1710,1793,4094,27.5,14.0,126,844,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2127,1792,1792,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.09,48.62
$GC,879,1.82,585.0,2902,2126,1791,4094,22.2,13.1,132,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1791,1791,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.10,49.01
$GC,919,1.82,585.0,2902,2126,1790,4094,17.3,11.4,138,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1790,1790,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.12,50.63
$GC,959,1.82,585.0,2902,2126,1789,4094,13.1,10.6,144,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1789,1789,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.14,51.29
$GC,999,1.85,607.9,2902,2126,1788,4094,8.9,10.2,150,1007,0.00,1.10,2.53,0.187,8708,0.000,0.045,2902,1710,1773,1773,4094,0,0,0,0,0,0,26.29,25.55,24.51,10.16,52.52
$STATE,1060,end climb,SURFACE_DEPTH_REACHED
$STATE,1060,begin surface coast
$FINISH,0.1,1.012439
$STATE,1079,end surface coast,CONTROL_FINISHED_OK
$STATE,1080,begin surface
$SM_CCo,1185,0.00,0.000,0,0,1770,613.90
$SM_GC,0.87,27.67,0.57,0.00,0.020,0.033,0.000,238,1971,1770,-6.55,-1.41,613.90,0,0,0,0,0,0,26.10,26.10,26.15
$IRIDIUM_FIX,5952.82,-17420.78,280817,171624
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.66
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.72,53.796
$10V_AH,10.36,51.172
$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,45.825,7.000,69.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,425.901,327.578,157.491,236.236,107.207,0.000,326.873,0.000,245.554,0.000,0.542,0.000
$DEVICE_MAMPS,50.490,1253.835,1328.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10828,163
$CAP_FILE_SIZE,26522,0
$CFSIZE,1024409600,927645696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,182646,6038.439,-17345.967,8,0.9,18,7.0,0.4,294.6,10,4.8