version: 66.13
glider: 401
mission: 22
dive: 1353
start: 8 19 117 21 7 40
data:
$ID,401
$MISSION,22
$DIVE,1353
$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,19
$R_STBD_OVSHOOT,27
$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
$GPS1,190817,202654,6152.6060,-17405.9160,10,0.8,26,6.9,0.0,201.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-1.6
$GPS2,190817,202654,6152.6060,-17405.9160,10,0.8,26,6.9,0.0,201.7,10,4.9
$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,135.5,21008,-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,-487.5,2402,1956,2343,4092,0.0,0.0,0,18,6.05,0.00,0.00,0.000,4097,0.024,0.000,1816,1957,2343,2343,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.30,53.34
$GC,22,-1.78,-487.5,1815,1956,2343,4094,0.1,0.0,1,35,0.22,1.20,-6.30,0.000,20996,0.045,1.274,1786,1514,3056,3056,4095,0,0,0,0,0,0,26.07,24.53,26.09,10.30,53.26
$GC,256,-1.78,-487.5,1785,1515,3062,4095,33.0,-12.6,39,263,0.00,1.05,0.00,0.000,1030,0.000,0.026,1786,1961,3062,3062,4095,0,0,0,0,0,0,26.18,26.15,26.19,10.39,52.36
$GC,296,-1.78,-487.5,1785,1961,3063,4095,37.7,-11.7,45,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1961,3063,3063,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.37,50.86
$GC,335,-1.78,-487.5,1785,1961,3065,4094,42.6,-12.4,51,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1961,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.36,50.11
$GC,374,-1.78,-487.5,1785,1961,3065,4095,47.5,-12.4,57,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1961,3065,3065,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.35,49.52
$GC,413,-1.78,-487.5,1785,1960,3066,4094,52.4,-12.9,63,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1961,3066,3066,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.33,49.44
$GC,452,-1.78,-487.5,1785,1961,3067,4095,57.3,-12.7,69,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1961,3067,3067,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.33,48.34
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,485,-0.45,0.0,1785,2141,3067,4094,60.7,-12.6,73,520,4.32,0.00,28.25,1.314,10244,0.054,0.000,2186,2141,2484,2484,4095,0,0,0,0,0,0,26.19,25.29,24.23,10.33,47.95
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$GC,525,1.78,487.5,2185,2141,2484,4095,63.5,0.0,79,567,7.53,0.00,28.05,1.280,11270,0.031,0.000,2891,2141,1915,1915,4094,0,0,0,0,0,0,25.56,25.72,23.83,10.20,48.14
$GC,600,1.78,487.5,2890,2141,1915,4094,57.5,12.4,91,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2142,1914,1914,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.08,46.69
$GC,639,1.78,487.5,2890,2141,1913,4094,52.4,12.9,97,646,0.00,1.17,0.00,0.000,516,0.000,0.044,2890,1706,1913,1913,4094,0,0,0,0,0,0,25.70,25.41,25.72,10.07,46.49
$GC,740,1.78,487.5,2890,1705,1911,4094,39.3,13.1,113,746,0.00,1.05,0.00,0.000,1030,0.000,0.030,2890,2128,1911,1911,4094,0,0,0,0,0,0,25.73,25.70,25.76,10.05,46.88
$GC,780,1.78,487.5,2890,2128,1909,4094,34.2,12.9,119,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2128,1909,1909,4095,0,0,0,0,0,0,26.03,26.05,26.05,10.05,47.00
$GC,819,1.78,487.5,2890,2127,1908,4095,29.1,12.7,125,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2128,1908,1908,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.05,47.75
$GC,858,1.78,487.5,2890,2128,1907,4094,24.6,11.0,131,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2128,1907,1907,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.05,47.99
$GC,897,2.03,655.0,2890,2127,1907,4094,21.2,8.1,137,910,0.77,0.00,9.98,0.758,10246,0.029,0.000,2974,2128,1720,1720,4094,0,0,0,0,0,0,25.98,25.55,24.70,10.10,48.85
$GC,944,2.03,655.0,2974,2128,1719,4094,16.1,11.5,144,950,0.00,1.12,0.00,0.000,516,0.000,0.047,2975,1705,1719,1719,4094,0,0,0,0,0,0,26.08,25.77,26.10,10.09,50.31
$GC,984,2.03,655.0,2974,1704,1718,4094,11.3,11.9,150,990,0.00,1.05,0.00,0.000,1030,0.000,0.033,2975,2126,1718,1718,4094,0,0,0,0,0,0,25.91,25.87,25.94,10.11,51.53
$GC,1024,2.03,655.0,2974,2126,1717,4094,6.5,12.4,156,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2126,1716,1716,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,52.32
$STATE,1059,end climb,SURFACE_DEPTH_REACHED
$STATE,1059,begin surface coast
$FINISH,0.2,1.014873
$STATE,1072,end surface coast,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$SM_CCo,1176,0.00,0.000,0,0,1714,661.98
$SM_GC,0.81,28.75,0.47,0.00,0.021,0.041,0.000,239,1940,1714,-6.55,1.00,661.98,0,0,0,0,0,0,26.03,25.99,26.07
$IRIDIUM_FIX,6149.06,-17422.35,190817,190943
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.48
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.83,38.088
$10V_AH,10.38,38.836
$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,47.650,8.050,66.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.219,325.039,161.792,237.842,86.584,0.000,335.477,0.000,246.938,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1273.725,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,10784,164
$CAP_FILE_SIZE,28503,0
$CFSIZE,1024409600,953008128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,212829,6152.156,-17405.945,2,0.8,33,6.9,0.4,249.0,10,4.8