version: 66.13
glider: 401
mission: 22
dive: 1386
start: 8 20 117 11 1 53
data:
$ID,401
$MISSION,22
$DIVE,1386
$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,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
$GPS1,200817,102050,6149.4360,-17358.4004,6,0.9,22,7.0,0.3,172.1,9,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-2.9
$GPS2,200817,102050,6149.4360,-17358.4004,6,0.9,22,7.0,0.3,172.1,9,4.9
$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,143.0,12442,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,2418,1950,2306,4092,0.0,0.0,0,21,6.70,0.00,-1.77,0.000,20482,0.025,0.000,1773,1950,2502,2502,4094,0,0,0,0,0,0,26.03,28.83,26.08,10.30,53.97
$GC,26,-1.78,-487.5,1773,1950,2503,4094,0.1,0.0,1,35,0.00,1.25,-5.10,0.000,16644,0.000,1.256,1773,2375,3058,3058,4095,0,0,0,0,0,0,26.27,24.50,26.28,10.34,53.74
$GC,99,-1.78,-487.5,1772,2374,3060,4095,8.6,-17.5,11,108,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1947,3061,3061,4095,0,0,0,0,0,0,26.03,26.00,26.07,10.46,54.48
$GC,146,-1.78,-487.5,1772,1947,3062,4095,17.8,-19.6,17,155,0.00,1.08,0.00,0.000,516,0.000,0.051,1773,1524,3062,3062,4094,0,0,0,0,0,0,26.33,26.00,26.34,10.47,53.26
$GC,199,-1.78,-487.5,1772,1524,3064,4094,27.3,-18.0,24,208,0.00,1.02,0.00,0.000,1030,0.000,0.029,1772,1954,3064,3064,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.43,53.78
$GC,246,-1.78,-487.5,1772,1954,3065,4095,33.5,-12.4,30,256,0.00,1.10,0.00,0.000,260,0.000,0.047,1772,2373,3065,3065,4095,0,0,0,0,0,0,26.40,26.06,26.41,10.39,52.24
$GC,306,-1.78,-487.5,1772,2373,3066,4095,41.2,-12.3,38,316,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1952,3066,3066,4094,0,0,0,0,0,0,26.22,26.16,26.21,10.37,50.27
$GC,354,-1.78,-487.5,1772,1952,3068,4094,47.2,-12.8,44,363,0.00,1.08,0.00,0.000,516,0.000,0.052,1773,1527,3068,3068,4095,0,0,0,0,0,0,26.46,26.12,26.48,10.36,49.64
$GC,427,-1.78,-487.5,1772,1527,3070,4095,56.9,-13.1,54,436,0.00,1.00,0.00,0.000,1030,0.000,0.028,1773,1954,3070,3070,4095,0,0,0,0,0,0,26.28,26.26,26.33,10.34,48.03
$STATE,450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,450,begin apogee
$GC,459,-0.45,0.0,1772,2144,3070,4095,60.5,-12.8,57,496,4.45,0.00,28.45,1.310,10244,0.056,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.18,25.29,24.25,10.34,48.11
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,497,begin climb
$GC,500,1.78,487.5,2185,2144,2484,4094,64.0,0.0,61,546,7.53,1.12,27.83,1.287,10756,0.032,0.042,2893,1715,1919,1919,4094,0,0,0,0,0,0,25.51,25.46,23.88,10.21,47.55
$GC,603,1.78,487.5,2893,1715,1918,4094,54.7,13.3,74,613,0.00,1.05,0.00,0.000,1030,0.000,0.031,2893,2131,1916,1916,4094,0,0,0,0,0,0,25.45,25.41,25.47,10.08,46.29
$GC,651,1.78,487.5,2893,2131,1915,4094,48.3,13.8,80,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,1915,1915,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.07,46.14
$GC,697,1.78,487.5,2893,2131,1914,4094,42.0,13.5,86,706,0.00,1.12,0.00,0.000,516,0.000,0.046,2893,1711,1914,1914,4094,0,0,0,0,0,0,25.94,25.63,25.95,10.07,46.41
$GC,816,1.78,487.5,2893,1711,1911,4094,27.1,12.6,103,826,0.00,1.02,0.00,0.000,1030,0.000,0.031,2894,2127,1911,1911,4094,0,0,0,0,0,0,25.90,25.90,25.96,10.06,47.08
$GC,863,2.11,705.7,2893,2126,1910,4094,22.8,7.3,109,882,1.02,0.00,12.73,0.802,10246,0.027,0.000,2996,2127,1661,1661,4094,0,0,0,0,0,0,25.99,25.51,24.66,10.11,48.46
$GC,921,2.11,705.7,2995,2126,1659,4094,16.6,12.1,116,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2127,1659,1659,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.09,50.47
$GC,969,2.11,705.7,2995,2126,1658,4094,10.5,12.7,122,979,0.00,1.10,0.00,0.000,516,0.000,0.047,2996,1713,1658,1658,4094,0,0,0,0,0,0,26.14,25.81,26.15,10.11,51.89
$STATE,1038,end climb,SURFACE_DEPTH_REACHED
$STATE,1039,begin surface coast
$FINISH,0.3,1.023816
$STATE,1053,end surface coast,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$SM_CCo,1157,0.00,0.000,0,0,1655,713.50
$SM_GC,0.95,29.05,0.60,0.00,0.021,0.029,0.000,229,1971,1655,-6.59,-1.09,713.50,0,0,0,0,0,0,25.92,26.04,26.01
$IRIDIUM_FIX,6149.06,-17422.35,200817,101417
$TT8_MAMPS,0.026215,0.255409
$HUMID,53.74
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.88,39.112
$10V_AH,10.10,39.644
$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,48.750,15.600,69.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,381.332,59.692,135.871,560.081,85.373,0.000,353.373,0.000,327.619,0.000,0.541,0.000
$DEVICE_MAMPS,55.845,1256.130,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.831,364.107,288.202,427.415,558.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,14315,134
$CAP_FILE_SIZE,27242,0
$CFSIZE,1024409600,951386112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,112227,6148.725,-17358.152,6,0.9,37,7.0,0.2,194.4,9,4.6