version: 66.13
glider: 401
mission: 22
dive: 1239
start: 8 17 117 23 12 24
data:
$ID,401
$MISSION,22
$DIVE,1239
$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,29
$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
$GPS1,170817,223213,6205.3433,-17430.3359,5,1.0,51,6.7,0.3,317.0,8,3.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.0
$GPS2,170817,223213,6205.3433,-17430.3359,5,1.0,51,6.7,0.3,317.0,8,3.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$TGT_LATLONG,6156.580,-17421.840
$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,148.8,17837,-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,9,-1.78,-487.5,2403,1994,2341,4092,0.0,0.0,0,17,5.95,0.00,0.00,0.000,4097,0.027,0.000,1827,1995,2341,2341,4095,0,0,0,0,0,0,26.27,28.83,28.83,10.29,52.67
$GC,21,-1.78,-487.5,1827,1995,2341,4095,0.1,0.0,1,34,0.35,1.33,-6.78,0.000,20996,0.044,1.274,1788,1521,3058,3058,4095,0,0,0,0,0,0,26.02,24.58,26.05,10.29,52.67
$GC,142,-1.78,-487.5,1788,1521,3062,4095,17.0,-17.3,20,149,0.00,0.95,0.00,0.000,1030,0.000,0.028,1789,1922,3062,3062,4095,0,0,0,0,0,0,26.08,26.05,26.10,10.45,52.71
$GC,182,-1.78,-487.5,1788,1922,3062,4095,23.4,-13.4,26,188,0.00,1.20,0.00,0.000,260,0.000,0.047,1788,2376,3063,3063,4095,0,0,0,0,0,0,26.32,26.01,26.33,10.43,52.59
$GC,282,-1.78,-487.5,1788,2376,3065,4095,35.4,-11.8,42,288,0.00,1.02,0.00,0.000,1030,0.000,0.030,1788,1969,3065,3065,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.37,50.66
$GC,321,-1.78,-487.5,1788,1968,3066,4095,40.2,-12.4,48,328,0.00,1.15,0.00,0.000,516,0.000,0.051,1789,1517,3066,3066,4094,0,0,0,0,0,0,26.42,26.10,26.43,10.36,49.40
$GC,403,-1.78,-487.5,1788,1517,3067,4094,49.9,-11.7,61,410,0.00,1.02,0.00,0.000,1030,0.000,0.027,1788,1959,3067,3067,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.33,48.22
$GC,443,-1.78,-487.5,1788,1959,3068,4095,54.5,-11.8,67,449,0.00,1.05,0.00,0.000,260,0.000,0.046,1788,2361,3068,3068,4094,0,0,0,0,0,0,26.48,26.17,26.49,10.33,47.99
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,493,-0.45,0.0,1788,2114,3069,4094,60.2,-12.7,74,529,4.30,0.00,28.35,1.302,10244,0.054,0.000,2187,2114,2484,2484,4095,0,0,0,0,0,0,26.19,25.29,24.22,10.32,48.22
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,534,1.78,487.5,2186,2114,2483,4095,62.6,0.0,80,576,7.55,0.00,27.98,1.275,11270,0.032,0.000,2891,2114,1917,1917,4094,0,0,0,0,0,0,25.56,25.72,23.82,10.19,47.32
$GC,609,1.78,487.5,2891,2114,1915,4094,56.4,12.7,92,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1915,1915,4094,0,0,0,0,0,0,25.53,25.55,25.54,10.06,46.02
$GC,648,1.78,487.5,2891,2114,1914,4094,51.2,13.3,98,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1915,1915,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.05,45.94
$GC,687,1.78,487.5,2891,2113,1913,4094,45.8,13.3,104,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2114,1913,1913,4094,0,0,0,0,0,0,25.81,25.83,25.83,10.04,46.41
$GC,726,1.78,487.5,2891,2113,1912,4094,40.5,13.6,110,732,0.00,0.98,0.00,0.000,516,0.000,0.046,2891,1738,1912,1912,4094,0,0,0,0,0,0,25.91,25.62,25.92,10.04,46.57
$GC,837,1.78,487.5,2891,1737,1908,4094,26.6,11.9,128,844,0.00,0.95,0.00,0.000,1030,0.000,0.030,2891,2124,1908,1908,4095,0,0,0,0,0,0,25.88,25.84,25.90,10.04,47.08
$GC,877,1.79,492.3,2891,2123,1908,4095,22.3,10.5,134,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2124,1907,1907,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.05,48.18
$GC,917,1.94,593.8,2891,2124,1907,4094,18.6,9.0,140,929,0.45,0.00,6.95,0.662,10246,0.035,0.000,2941,2124,1790,1790,4094,0,0,0,0,0,0,25.98,25.63,24.80,10.10,49.17
$GC,963,2.01,639.2,2940,2124,1790,4094,14.2,9.9,147,970,0.17,0.00,4.10,0.457,10246,0.051,0.000,2968,2124,1737,1737,4094,0,0,0,0,0,0,25.94,25.65,24.85,10.10,50.82
$GC,1003,2.01,639.2,2968,2124,1736,4094,9.7,11.1,153,1010,0.00,1.02,0.00,0.000,516,0.000,0.046,2969,1736,1736,1736,4094,0,0,0,0,0,0,26.15,25.85,26.16,10.11,51.89
$STATE,1070,end climb,SURFACE_DEPTH_REACHED
$STATE,1070,begin surface coast
$FINISH,0.1,1.005812
$STATE,1083,end surface coast,CONTROL_FINISHED_OK
$STATE,1083,begin surface
$SM_CCo,1186,0.00,0.000,0,0,1733,645.67
$SM_GC,0.89,28.67,0.52,0.00,0.021,0.031,0.000,237,1981,1733,-6.55,-1.14,645.67,0,0,0,0,0,0,26.06,26.04,26.08
$IRIDIUM_FIX,6149.06,-17422.35,170817,211548
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.44
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.82,34.754
$10V_AH,10.37,36.133
$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,47.450,12.375,67.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,439.875,335.334,158.396,240.450,77.716,0.000,331.181,0.000,249.649,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1274.490,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.029,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,10811,166
$CAP_FILE_SIZE,29343,0
$CFSIZE,1024409600,958611456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,233308,6205.250,-17430.189,4,0.8,19,6.7,0.3,37.0,11,5.0