version: 66.13
glider: 401
mission: 22
dive: 1887
start: 8 29 117 1 33 47
data:
$ID,401
$MISSION,22
$DIVE,1887
$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,53
$R_STBD_OVSHOOT,65
$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
$GPS1,290817,005245,6038.4126,-17342.8691,3,1.2,48,7.1,0.4,39.6,8,3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.7
$GPS2,290817,005245,6038.4126,-17342.8691,3,1.2,48,7.1,0.4,39.6,8,3.0
$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,157.2,24840,-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,11,-1.82,-585.0,2389,1998,2367,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.026,0.000,1836,1999,2366,2366,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.33,53.46
$GC,24,-1.82,-585.0,1836,1999,2366,4095,0.1,0.0,1,37,0.55,1.27,-7.40,0.000,20996,0.035,1.253,1775,1550,3171,3171,4095,0,0,0,0,0,0,26.09,24.27,26.11,10.34,52.99
$GC,225,-1.82,-585.0,1774,1549,3175,4095,26.8,-9.4,33,231,0.00,0.85,0.00,0.000,1030,0.000,0.026,1774,1926,3175,3175,4094,0,0,0,0,0,0,26.20,26.18,26.22,10.48,52.79
$GC,266,-1.82,-585.0,1774,1926,3176,4094,30.3,-8.5,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1926,3176,3176,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,51.81
$GC,306,-1.82,-585.0,1774,1926,3177,4095,34.3,-10.6,45,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1926,3176,3176,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.44,51.85
$GC,346,-1.82,-585.0,1774,1926,3178,4095,39.0,-12.1,51,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1926,3177,3177,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.42,50.47
$GC,386,-1.82,-585.0,1774,1926,3178,4094,43.9,-12.0,57,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1926,3178,3178,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,50.86
$GC,427,-1.82,-585.0,1774,1926,3179,4095,48.8,-12.3,63,433,0.00,1.12,0.00,0.000,260,0.000,0.044,1774,2357,3179,3179,4095,0,0,0,0,0,0,26.54,26.11,26.55,10.41,50.31
$STATE,517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,517,begin apogee
$GC,528,-0.45,0.0,1774,2131,3182,4094,60.6,-12.1,78,570,4.40,0.00,33.50,1.322,10244,0.052,0.000,2185,2129,2484,2484,4094,0,0,0,0,0,0,26.16,25.20,24.15,10.40,49.37
$STATE,571,end apogee,CONTROL_FINISHED_OK
$STATE,571,begin climb
$GC,576,1.82,585.0,2184,2129,2484,4094,63.8,0.0,85,623,7.62,0.00,33.33,1.284,11270,0.030,0.000,2902,2129,1801,1801,4094,0,0,0,0,0,0,25.51,25.67,23.72,10.25,48.85
$GC,658,1.82,585.0,2902,2129,1800,4094,56.7,12.1,98,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1800,1800,4095,0,0,0,0,0,0,25.46,25.47,25.47,10.11,47.40
$GC,698,1.82,585.0,2902,2129,1798,4095,51.4,13.9,104,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1798,1798,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.10,47.79
$GC,739,1.82,585.0,2902,2128,1797,4094,46.2,12.6,110,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1797,1797,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.10,48.14
$GC,779,1.82,585.0,2901,2128,1796,4094,40.9,12.8,116,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1796,1796,4094,0,0,0,0,0,0,25.91,25.94,25.93,10.09,48.18
$GC,819,1.82,585.0,2902,2128,1795,4094,35.6,13.1,122,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1795,1795,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.08,47.91
$GC,859,1.82,585.0,2902,2127,1794,4094,30.4,13.2,128,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2128,1794,1794,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.09,49.13
$GC,899,1.82,585.0,2902,2127,1793,4094,25.1,13.1,134,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1792,1792,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.09,48.46
$GC,940,1.82,585.0,2902,2126,1791,4094,19.8,12.9,140,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2126,1791,1791,4095,0,0,0,0,0,0,26.20,26.21,26.21,10.09,48.85
$GC,980,1.82,585.0,2902,2126,1790,4095,15.2,10.8,146,986,0.00,1.00,0.00,0.000,516,0.000,0.048,2902,1743,1790,1790,4094,0,0,0,0,0,0,26.25,25.84,26.26,10.12,50.00
$STATE,1118,end climb,SURFACE_DEPTH_REACHED
$STATE,1118,begin surface coast
$FINISH,0.1,1.003366
$STATE,1139,end surface coast,CONTROL_FINISHED_OK
$STATE,1139,begin surface
$SM_CCo,1245,0.00,0.000,0,0,1785,601.02
$SM_GC,1.04,27.83,0.45,0.00,0.019,0.035,0.000,231,1947,1785,-6.59,-2.19,601.02,0,0,0,0,0,0,26.02,26.13,26.09
$IRIDIUM_FIX,5952.82,-17420.78,280817,233332
$TT8_MAMPS,0.025466,0.109354
$HUMID,53.81
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.72,54.380
$10V_AH,10.35,51.608
$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,46.050,5.725,66.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,445.668,341.889,161.324,249.459,116.212,0.000,338.534,0.000,258.224,0.000,0.541,0.000
$DEVICE_MAMPS,52.020,1253.070,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,14295,172
$CAP_FILE_SIZE,27288,0
$CFSIZE,1024409600,926760960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,015529,6037.727,-17342.016,3,0.8,14,7.1,0.0,60.8,10,4.7