version: 66.13
glider: 401
mission: 22
dive: 1326
start: 8 19 117 9 59 37
data:
$ID,401
$MISSION,22
$DIVE,1326
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,190817,091741,6155.6182,-17410.6523,5,0.8,16,6.9,0.5,169.2,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-4.5
$GPS2,190817,091741,6155.6182,-17410.6523,5,0.8,16,6.9,0.5,169.2,9,4.6
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,135.7,27963,-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,-487.5,2403,1947,2341,4092,0.0,0.0,0,21,6.38,0.00,-2.92,0.000,20482,0.024,0.000,1786,1947,2652,2652,4094,0,0,0,0,0,0,26.03,28.83,26.07,10.29,54.52
$GC,25,-1.78,-487.5,1787,1947,2652,4094,0.1,0.0,1,34,0.00,0.00,-3.85,0.000,16390,0.000,0.000,1787,1947,3058,3058,4095,0,0,0,0,0,0,26.25,24.82,26.25,10.37,54.13
$GC,71,-1.78,-487.5,1786,1948,3058,4095,3.3,-12.0,7,81,0.00,1.10,0.00,0.000,516,0.000,0.052,1787,1521,3059,3059,4095,0,0,0,0,0,0,26.23,25.91,26.24,10.45,53.85
$GC,138,-1.78,-487.5,1786,1520,3061,4095,14.7,-17.6,16,147,0.00,1.02,0.00,0.000,1030,0.000,0.028,1786,1947,3061,3061,4095,0,0,0,0,0,0,26.07,26.05,26.10,10.46,53.38
$GC,185,-1.78,-487.5,1786,1946,3062,4095,22.9,-17.0,22,194,0.00,1.15,0.00,0.000,260,0.000,0.049,1786,2379,3062,3062,4095,0,0,0,0,0,0,26.33,26.01,26.34,10.45,53.66
$GC,260,-1.78,-487.5,1786,2379,3064,4095,33.4,-12.9,32,268,0.00,1.08,0.00,0.000,1030,0.000,0.031,1787,1949,3064,3064,4095,0,0,0,0,0,0,26.13,26.09,26.17,10.38,51.81
$GC,307,-1.78,-487.5,1786,1948,3065,4095,39.5,-12.6,38,316,0.00,1.08,0.00,0.000,516,0.000,0.053,1786,1525,3065,3065,4095,0,0,0,0,0,0,26.41,26.08,26.43,10.37,50.27
$GC,388,-1.78,-487.5,1786,1525,3067,4095,49.5,-12.5,49,397,0.00,1.00,0.00,0.000,1030,0.000,0.027,1786,1952,3067,3067,4095,0,0,0,0,0,0,26.25,26.21,26.26,10.35,48.70
$GC,436,-1.78,-487.5,1786,1952,3068,4095,55.5,-12.4,55,446,0.00,1.10,0.00,0.000,260,0.000,0.047,1787,2370,3068,3068,4095,0,0,0,0,0,0,26.48,26.19,26.49,10.34,48.54
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,482,-0.45,0.0,1786,2116,3069,4094,60.7,-12.5,60,525,4.30,0.00,28.45,1.313,10244,0.054,0.000,2186,2115,2483,2483,4094,0,0,0,0,0,0,26.18,25.29,24.22,10.33,48.14
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,530,1.78,487.5,2186,2114,2484,4094,63.9,0.0,65,575,7.55,0.00,27.95,1.290,11270,0.031,0.000,2892,2115,1916,1916,4094,0,0,0,0,0,0,25.58,25.75,23.84,10.20,47.12
$GC,615,1.78,487.5,2891,2114,1915,4094,57.3,12.7,75,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2115,1915,1915,4094,0,0,0,0,0,0,25.58,25.60,25.59,10.07,46.10
$GC,662,1.78,487.5,2891,2114,1914,4094,50.8,13.4,81,672,0.00,1.00,0.00,0.000,516,0.000,0.047,2892,1734,1914,1914,4094,0,0,0,0,0,0,25.77,25.48,25.77,10.07,45.98
$GC,755,1.78,487.5,2891,1733,1911,4094,38.2,13.6,94,764,0.00,0.98,0.00,0.000,1030,0.000,0.031,2892,2127,1911,1911,4094,0,0,0,0,0,0,25.75,25.70,25.78,10.06,46.45
$GC,803,1.78,487.5,2892,2126,1910,4094,31.8,13.3,100,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1909,1909,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.05,47.04
$GC,851,1.78,487.5,2891,2126,1908,4094,26.1,11.7,106,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1908,1908,4095,0,0,0,0,0,0,26.13,26.15,26.14,10.05,47.00
$GC,899,1.98,623.3,2892,2126,1908,4095,21.4,8.5,112,918,0.60,1.02,8.30,0.718,10756,0.032,0.044,2958,1738,1759,1759,4094,0,0,0,0,0,0,25.97,25.34,24.76,10.10,47.99
$GC,1050,1.98,623.3,2958,1737,1754,4094,5.1,11.1,133,1059,0.00,0.95,0.00,0.000,1030,0.000,0.033,2958,2123,1754,1754,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.14,52.36
$STATE,1074,end climb,SURFACE_DEPTH_REACHED
$STATE,1074,begin surface coast
$FINISH,0.1,1.013291
$STATE,1095,end surface coast,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$SM_CCo,1199,0.00,0.000,0,0,1753,628.50
$SM_GC,0.85,28.65,0.38,0.00,0.021,0.037,0.000,230,1961,1753,-6.59,2.46,628.50,0,0,0,0,0,0,26.03,26.07,26.08
$IRIDIUM_FIX,6149.06,-17422.35,190817,075631
$TT8_MAMPS,0.026215,0.238182
$HUMID,53.38
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.84,37.292
$10V_AH,10.14,38.196
$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,47.475,12.875,64.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,399.517,60.338,139.561,579.568,85.948,0.000,361.281,0.000,339.364,0.000,0.540,0.000
$DEVICE_MAMPS,53.550,52.785,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.190,377.734,298.945,443.237,577.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,14408,139
$CAP_FILE_SIZE,27356,0
$CFSIZE,1024409600,954335232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,102056,6155.007,-17410.080,5,0.9,40,6.9,0.4,85.5,9,4.9