version: 66.13
glider: 401
mission: 22
dive: 1833
start: 8 28 117 3 15 36
data:
$ID,401
$MISSION,22
$DIVE,1833
$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,600
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,55
$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
$GPS1,280817,023359,6046.1953,-17345.6191,7,0.9,30,7.0,0.4,231.8,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-3.3
$GPS2,280817,023359,6046.1953,-17345.6191,7,0.9,30,7.0,0.4,231.8,9,5.0
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W19S
$TGT_LATLONG,6025.500,-17335.520
$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,159.5,39424,-10.3,-10.526,-13.92,8308
$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,-1.82,-585.0,2386,1987,2376,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.021,0.000,1829,1987,2376,2376,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.34,52.95
$GC,23,-1.82,-585.0,1829,1987,2376,4094,0.1,0.0,1,37,0.47,1.20,-7.07,0.000,20996,0.031,1.243,1771,1548,3170,3170,4095,0,0,0,0,0,0,26.12,24.31,26.13,10.34,52.83
$GC,235,-1.82,-585.0,1771,1548,3175,4095,28.3,-12.8,35,242,0.00,0.88,0.00,0.000,1030,0.000,0.027,1771,1931,3175,3175,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.47,52.40
$GC,276,-1.82,-585.0,1771,1931,3177,4094,33.4,-12.3,41,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1931,3176,3176,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.45,51.33
$GC,317,-1.82,-585.0,1771,1931,3178,4094,38.4,-12.1,47,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1931,3178,3178,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.44,51.29
$GC,357,-1.82,-585.0,1771,1931,3178,4095,43.2,-11.9,53,363,0.00,1.12,0.00,0.000,260,0.000,0.044,1771,2362,3178,3178,4094,0,0,0,0,0,0,26.51,26.10,26.53,10.42,50.78
$GC,439,-1.82,-585.0,1771,2362,3180,4094,53.8,-13.2,66,446,0.00,0.95,0.00,0.000,1030,0.000,0.028,1771,1980,3181,3181,4095,0,0,0,0,0,0,26.27,26.25,26.30,10.41,49.56
$GC,480,-1.82,-585.0,1771,1980,3181,4095,59.1,-13.2,72,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1980,3181,3181,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.40,49.68
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,502,-0.45,0.0,1771,2131,3183,4094,61.1,-13.3,74,544,4.43,0.00,33.42,1.314,10244,0.050,0.000,2185,2131,2485,2485,4094,0,0,0,0,0,0,26.17,25.21,24.16,10.40,49.21
$STATE,545,end apogee,CONTROL_FINISHED_OK
$STATE,545,begin climb
$GC,550,1.82,585.0,2185,2131,2484,4094,64.2,0.0,81,597,7.62,0.00,33.30,1.278,11270,0.030,0.000,2903,2132,1802,1802,4094,0,0,0,0,0,0,25.50,25.67,23.77,10.25,49.09
$GC,631,1.82,585.0,2902,2131,1801,4094,57.0,12.8,94,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1800,1800,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.11,47.83
$GC,672,1.82,585.0,2902,2131,1800,4094,51.4,13.5,100,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1799,1799,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.10,47.32
$GC,712,1.82,585.0,2902,2131,1798,4094,45.9,14.0,106,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1798,1798,4094,0,0,0,0,0,0,25.81,25.83,25.82,10.09,47.83
$GC,752,1.82,585.0,2902,2131,1797,4094,40.4,13.9,112,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2132,1796,1796,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.08,48.07
$GC,792,1.82,585.0,2902,2131,1795,4094,34.8,14.3,118,799,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1709,1796,1796,4095,0,0,0,0,0,0,26.01,25.63,26.03,10.09,48.58
$GC,917,1.82,585.0,2902,1708,1792,4095,19.6,11.4,138,923,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2127,1791,1791,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.13,49.80
$GC,958,1.82,585.0,2902,2126,1790,4094,15.2,10.6,144,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1790,1790,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.15,51.73
$GC,998,1.82,585.0,2902,2126,1789,4094,10.6,11.5,150,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1789,1789,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.17,52.28
$GC,1038,1.82,585.0,2902,2126,1788,4094,6.0,11.3,156,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1788,1788,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.17,52.99
$STATE,1073,end climb,SURFACE_DEPTH_REACHED
$STATE,1073,begin surface coast
$FINISH,0.5,1.024232
$STATE,1092,end surface coast,CONTROL_FINISHED_OK
$STATE,1092,begin surface
$SM_CCo,1197,0.00,0.000,0,0,1786,600.16
$SM_GC,0.80,27.55,0.45,0.00,0.020,0.041,0.000,237,1945,1786,-6.55,1.37,600.16,0,0,0,0,0,0,26.15,26.08,26.19
$IRIDIUM_FIX,5952.82,-17420.78,280817,011619
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.70
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.77,52.625
$10V_AH,10.37,50.317
$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,45.675,7.650,66.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.650,327.378,160.154,239.363,109.085,0.000,333.382,0.000,248.418,0.000,0.542,0.000
$DEVICE_MAMPS,50.490,1243.125,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,10818,165
$CAP_FILE_SIZE,27364,0
$CFSIZE,1024409600,929415168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,033629,6045.273,-17345.936,8,0.8,13,7.0,0.3,259.4,11,4.5