version: 66.13
glider: 401
mission: 22
dive: 1341
start: 8 19 117 16 5 20
data:
$ID,401
$MISSION,22
$DIVE,1341
$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,34
$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
$GPS1,190817,152130,6154.0146,-17407.4492,8,0.7,16,6.9,0.0,21.1,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.4
$GPS2,190817,152130,6154.0146,-17407.4492,8,0.7,16,6.9,0.0,21.1,11,4.7
$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,136.8,23902,-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,-487.5,2399,1954,2348,4092,0.0,0.0,0,18,6.30,0.00,0.00,0.000,4097,0.025,0.000,1788,1954,2348,2348,4093,0,0,0,0,0,0,26.29,28.83,28.83,10.30,53.85
$GC,22,-1.78,-487.5,1788,1953,2348,4093,0.1,0.0,1,34,0.00,0.00,-6.65,0.000,16390,0.000,0.000,1788,1954,3055,3055,4095,0,0,0,0,0,0,26.27,25.48,26.29,10.29,53.30
$GC,67,-1.78,-487.5,1787,1953,3055,4095,3.3,-12.2,8,74,0.00,1.10,0.00,0.000,516,0.000,0.051,1788,1520,3056,3056,4094,0,0,0,0,0,0,26.23,25.91,26.25,10.45,54.25
$GC,203,-1.78,-487.5,1787,1520,3060,4094,24.9,-14.1,30,210,0.00,1.02,0.00,0.000,1030,0.000,0.026,1788,1958,3060,3060,4094,0,0,0,0,0,0,26.14,26.12,26.16,10.45,52.99
$GC,243,-1.78,-487.5,1787,1958,3060,4094,28.2,-8.2,36,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1958,3060,3060,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.41,53.26
$GC,283,-1.78,-487.5,1787,1958,3061,4094,31.9,-9.2,42,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1958,3061,3061,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.39,51.65
$GC,322,-1.78,-487.5,1787,1959,3062,4094,35.5,-9.5,48,329,0.00,1.12,0.00,0.000,516,0.000,0.053,1788,1528,3062,3062,4094,0,0,0,0,0,0,26.43,26.10,26.44,10.38,51.02
$GC,562,-1.78,-487.5,1787,1527,3066,4094,59.8,-10.3,87,568,0.00,0.93,0.00,0.000,1030,0.000,0.027,1788,1940,3066,3066,4095,0,0,0,0,0,0,26.34,26.32,26.35,10.32,48.42
$STATE,573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,573,begin apogee
$GC,582,-0.45,0.0,1788,2127,3067,4095,61.3,-10.2,89,618,4.28,0.00,28.27,1.320,10244,0.054,0.000,2186,2127,2484,2484,4094,0,0,0,0,0,0,26.23,25.32,24.25,10.32,48.54
$STATE,619,end apogee,CONTROL_FINISHED_OK
$STATE,619,begin climb
$GC,623,1.78,487.5,2186,2126,2484,4094,64.4,0.0,95,665,7.47,1.10,28.05,1.304,10756,0.030,0.043,2895,1708,1915,1915,4094,0,0,0,0,0,0,25.53,25.48,23.82,10.20,48.30
$GC,863,1.79,493.1,2894,1708,1911,4094,42.1,10.4,134,869,0.00,1.02,0.00,0.000,1030,0.000,0.028,2895,2128,1911,1911,4094,0,0,0,0,0,0,25.79,25.77,25.81,10.05,48.26
$GC,903,1.82,513.2,2894,2128,1910,4094,37.9,10.2,140,910,0.00,0.00,3.05,0.410,8198,0.000,0.000,2895,2128,1885,1885,4094,0,0,0,0,0,0,26.08,25.52,24.50,10.05,48.50
$GC,943,1.82,513.2,2894,2128,1884,4094,33.5,11.2,146,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2128,1885,1885,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.04,48.22
$GC,982,1.82,513.2,2894,2127,1883,4094,29.3,10.9,152,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2128,1883,1883,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.04,48.70
$GC,1021,1.82,516.0,2895,2127,1882,4094,25.2,10.5,158,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2128,1882,1882,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.04,48.62
$GC,1061,1.99,625.7,2894,2128,1882,4094,21.5,8.9,164,1074,0.60,0.00,7.43,0.704,10246,0.031,0.000,2964,2128,1753,1753,4094,0,0,0,0,0,0,26.02,25.63,24.76,10.07,49.44
$GC,1107,2.07,684.7,2963,2127,1753,4094,17.2,9.7,171,1115,0.15,0.00,4.93,0.545,10246,0.053,0.000,2987,2128,1684,1684,4094,0,0,0,0,0,0,25.98,25.63,24.79,10.09,50.78
$GC,1149,2.09,694.4,2986,2127,1683,4094,12.9,10.4,177,1156,0.00,1.10,2.30,0.133,8708,0.000,0.048,2987,1715,1673,1673,4094,0,0,0,0,0,0,26.17,25.72,24.82,10.09,52.87
$GC,1238,2.22,783.1,2987,1715,1672,4094,4.0,9.2,191,1251,0.43,1.02,6.18,0.516,11270,0.039,0.028,3036,2138,1569,1569,4094,0,0,0,0,0,0,26.03,26.00,24.96,10.11,53.97
$STATE,1256,end climb,SURFACE_DEPTH_REACHED
$STATE,1256,begin surface coast
$FINISH,0.2,1.023844
$STATE,1276,end surface coast,CONTROL_FINISHED_OK
$STATE,1276,begin surface
$SM_CCo,1381,0.00,0.000,0,0,1568,787.34
$SM_GC,0.49,29.60,0.50,0.00,0.021,0.047,0.000,230,1953,1568,-6.59,1.23,787.34,0,0,0,0,0,0,25.84,25.94,25.97
$IRIDIUM_FIX,6149.06,-17422.35,190817,140211
$TT8_MAMPS,0.025466,0.107107
$HUMID,54.72
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.82,37.722
$10V_AH,10.37,38.548
$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,48.825,9.850,80.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,511.660,399.179,164.275,284.736,86.819,0.000,356.285,0.000,293.539,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,52.785,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,133.459,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,14246,197
$CAP_FILE_SIZE,31620,0
$CFSIZE,1024409600,953597952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,162952,6153.931,-17406.623,5,0.9,50,6.9,0.0,294.2,10,7.0