version: 66.13
glider: 401
mission: 22
dive: 1596
start: 8 24 117 1 52 8
data:
$ID,401
$MISSION,22
$DIVE,1596
$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,48
$R_STBD_OVSHOOT,64
$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
$GPS1,240817,010958,6114.9053,-17351.3027,8,0.9,19,7.0,0.0,286.7,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-2.5
$GPS2,240817,010958,6114.9053,-17351.3027,8,0.9,19,7.0,0.0,286.7,10,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,169.1,20319,-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,-487.5,2388,1998,2369,4092,0.0,0.0,0,21,6.32,0.00,-2.38,0.000,20482,0.024,0.000,1769,1998,2673,2673,4095,0,0,0,0,0,0,26.17,28.83,26.22,10.34,53.62
$GC,26,-1.78,-487.5,1769,1998,2674,4095,0.8,0.0,1,36,0.00,0.95,-2.62,0.000,16644,0.000,1.252,1768,2337,3056,3056,4095,0,0,0,0,0,0,26.41,24.50,26.42,10.39,54.17
$GC,94,-1.78,-487.5,1768,2337,3057,4095,10.4,-17.2,10,102,0.00,0.93,0.00,0.000,1030,0.000,0.030,1769,1973,3058,3058,4095,0,0,0,0,0,0,26.12,26.07,26.11,10.48,53.38
$GC,140,-1.78,-487.5,1768,1972,3059,4095,17.5,-15.6,16,150,0.00,1.17,0.00,0.000,516,0.000,0.051,1769,1514,3059,3059,4095,0,0,0,0,0,0,26.39,25.99,26.39,10.47,52.91
$GC,207,-1.78,-487.5,1768,1514,3061,4095,27.7,-14.1,25,217,0.00,0.88,0.00,0.000,1030,0.000,0.027,1769,1896,3061,3061,4094,0,0,0,0,0,0,26.20,26.16,26.22,10.44,52.24
$GC,255,-1.78,-487.5,1768,1896,3062,4094,34.0,-13.2,31,265,0.00,1.15,0.00,0.000,260,0.000,0.044,1769,2340,3062,3062,4095,0,0,0,0,0,0,26.46,26.10,26.47,10.42,52.04
$GC,331,-1.78,-487.5,1768,2339,3064,4095,43.6,-12.8,41,340,0.00,1.02,0.00,0.000,1030,0.000,0.032,1769,1928,3065,3065,4095,0,0,0,0,0,0,26.21,26.17,26.23,10.39,49.96
$GC,380,-1.78,-487.5,1768,1928,3065,4095,49.7,-12.7,47,389,0.00,1.02,0.00,0.000,516,0.000,0.052,1769,1522,3065,3065,4095,0,0,0,0,0,0,26.52,26.14,26.53,10.38,49.01
$GC,447,-1.78,-487.5,1768,1522,3067,4095,59.1,-13.9,56,456,0.00,0.88,0.00,0.000,1030,0.000,0.026,1769,1904,3067,3067,4095,0,0,0,0,0,0,26.32,26.30,26.34,10.38,48.34
$STATE,463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,463,begin apogee
$GC,474,-0.45,0.0,1769,2135,3068,4095,61.8,-13.7,58,510,4.47,0.00,28.25,1.349,10244,0.054,0.000,2187,2135,2483,2483,4095,0,0,0,0,0,0,26.19,25.32,24.27,10.37,48.11
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,515,1.78,487.5,2187,2135,2484,4095,65.2,0.0,62,559,7.45,0.00,27.73,1.306,11270,0.030,0.000,2892,2135,1921,1921,4094,0,0,0,0,0,0,25.58,25.75,23.88,10.25,47.48
$GC,599,1.78,487.5,2891,2134,1921,4094,58.5,12.6,72,609,0.00,1.12,0.25,0.004,8708,0.000,0.042,2892,1714,1920,1920,4094,0,0,0,0,0,0,25.60,25.30,25.60,10.11,46.22
$GC,686,1.78,487.5,2892,1714,1918,4094,46.9,13.0,84,696,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2126,1918,1918,4094,0,0,0,0,0,0,25.66,25.63,25.69,10.11,46.96
$GC,734,1.78,487.5,2892,2125,1917,4094,40.6,13.1,90,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2126,1917,1917,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.10,47.24
$GC,780,1.78,487.5,2892,2125,1915,4094,34.9,12.4,96,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2126,1915,1915,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.11,48.03
$GC,827,1.78,487.5,2892,2125,1914,4094,29.0,12.5,102,836,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1711,1914,1914,4094,0,0,0,0,0,0,26.16,25.80,26.17,10.11,47.59
$GC,907,1.78,487.5,2892,1710,1912,4094,20.0,11.4,113,916,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2129,1912,1912,4094,0,0,0,0,0,0,26.01,25.96,26.02,10.16,49.29
$GC,954,1.78,487.5,2891,2129,1911,4094,14.7,11.2,119,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1911,1911,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.17,51.26
$GC,1001,1.78,487.5,2892,2129,1910,4094,9.9,10.9,125,1010,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1711,1909,1909,4094,0,0,0,0,0,0,26.34,25.97,26.36,10.18,51.18
$STATE,1071,end climb,SURFACE_DEPTH_REACHED
$STATE,1071,begin surface coast
$FINISH,0.1,1.024137
$STATE,1092,end surface coast,CONTROL_FINISHED_OK
$STATE,1092,begin surface
$SM_CCo,1196,0.00,0.000,0,0,1906,497.13
$SM_GC,0.69,27.58,0.60,0.00,0.021,0.031,0.000,237,1966,1906,-6.55,-1.23,497.13,0,0,0,0,0,0,26.20,26.17,26.22
$IRIDIUM_FIX,6149.06,-17422.35,240817,010225
$TT8_MAMPS,0.025466,0.249417
$HUMID,53.15
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.88,45.320
$10V_AH,10.14,44.684
$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,45.825,15.075,56.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,394.770,60.479,133.457,574.855,99.421,0.000,352.300,0.000,337.413,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1252.305,1349.460,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.405,374.932,296.756,440.001,573.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,14324,138
$CAP_FILE_SIZE,28017,0
$CFSIZE,1024409600,941064192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,021302,6114.415,-17352.523,5,0.9,17,7.0,0.0,191.9,9,4.8