version: 66.13
glider: 401
mission: 22
dive: 1890
start: 8 29 117 2 47 15
data:
$ID,401
$MISSION,22
$DIVE,1890
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,290817,020501,6037.7139,-17341.9551,3,0.8,15,7.1,0.0,222.3,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.9
$GPS2,290817,020501,6037.7139,-17341.9551,3,0.8,15,7.1,0.0,222.3,11,4.8
$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,158.3,23372,-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,-585.0,2389,1972,2368,4092,0.0,0.0,0,22,6.40,0.00,-2.05,0.000,20482,0.022,0.000,1761,1973,2591,2591,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.32,53.78
$GC,27,-1.82,-585.0,1760,1973,2591,4094,0.1,0.0,1,38,0.00,1.25,-5.43,0.000,16900,0.000,1.261,1760,1529,3172,3172,4094,0,0,0,0,0,0,26.43,24.27,26.44,10.37,54.37
$GC,198,-1.82,-585.0,1759,1529,3176,4094,21.9,-12.6,25,207,0.00,1.00,0.00,0.000,1030,0.000,0.027,1760,1956,3176,3176,4095,0,0,0,0,0,0,26.21,26.19,26.23,10.45,54.13
$GC,246,-1.82,-585.0,1759,1956,3177,4095,28.3,-12.6,31,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1955,3177,3177,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.43,52.44
$GC,294,-1.82,-585.0,1759,1955,3178,4095,34.8,-13.7,37,303,0.00,1.08,0.00,0.000,260,0.000,0.047,1760,2366,3179,3179,4094,0,0,0,0,0,0,26.52,26.11,26.53,10.42,51.81
$GC,389,-1.82,-585.0,1759,2365,3181,4094,47.2,-13.7,50,399,0.00,1.00,0.00,0.000,1030,0.000,0.028,1760,1968,3181,3181,4095,0,0,0,0,0,0,26.30,26.25,26.30,10.40,50.07
$GC,439,-1.82,-585.0,1759,1968,3182,4095,53.9,-13.3,56,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1969,3183,3183,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.39,49.60
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,494,-0.45,0.0,1760,2132,3183,4095,60.5,-13.8,62,538,4.57,0.00,33.62,1.340,10244,0.052,0.000,2187,2133,2484,2484,4094,0,0,0,0,0,0,26.17,24.90,24.12,10.39,49.48
$STATE,539,end apogee,CONTROL_FINISHED_OK
$STATE,540,begin climb
$GC,544,1.82,585.0,2186,2132,2485,4094,64.4,0.0,67,589,7.65,0.00,33.42,1.296,11270,0.029,0.000,2904,2133,1803,1803,4094,0,0,0,0,0,0,25.51,25.68,23.71,10.24,48.85
$GC,630,1.82,585.0,2904,2132,1801,4094,57.5,12.7,77,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2132,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.48,10.10,47.48
$GC,679,1.82,585.0,2904,2132,1800,4094,51.2,12.9,83,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2133,1800,1800,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.09,48.14
$GC,728,1.82,585.0,2904,2132,1798,4094,44.7,13.2,89,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1798,1798,4095,0,0,0,0,0,0,25.86,25.88,25.87,10.08,47.63
$GC,777,1.82,585.0,2904,2132,1796,4095,38.3,13.2,95,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1796,1796,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.08,47.95
$GC,826,1.82,585.0,2904,2132,1795,4094,31.4,14.2,101,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2133,1795,1795,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.08,48.11
$GC,875,1.82,585.0,2904,2132,1794,4094,24.8,13.3,107,885,0.00,1.12,0.00,0.000,516,0.000,0.045,2904,1709,1794,1794,4094,0,0,0,0,0,0,26.15,25.75,26.17,10.08,48.38
$GC,949,1.82,585.0,2904,1708,1791,4094,15.0,12.4,117,959,0.00,1.05,0.00,0.000,1030,0.000,0.030,2905,2134,1791,1791,4094,0,0,0,0,0,0,25.96,25.96,25.98,10.10,48.81
$GC,997,1.87,618.9,2904,2134,1790,4094,10.2,10.1,123,1007,0.10,0.00,2.88,0.261,10246,0.070,0.000,2925,2134,1767,1767,4094,0,0,0,0,0,0,26.09,25.13,24.54,10.14,50.59
$GC,1047,1.87,618.9,2925,2134,1765,4094,4.9,10.8,129,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2134,1765,1765,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.15,52.04
$STATE,1070,end climb,SURFACE_DEPTH_REACHED
$STATE,1070,begin surface coast
$FINISH,0.1,1.011221
$STATE,1092,end surface coast,CONTROL_FINISHED_OK
$STATE,1092,begin surface
$SM_CCo,1198,0.00,0.000,0,0,1764,619.05
$SM_GC,0.82,28.12,0.50,0.00,0.020,0.040,0.000,230,1924,1764,-6.59,0.91,619.05,0,0,0,0,0,0,26.03,26.06,26.08
$IRIDIUM_FIX,5952.82,-17420.78,290817,004551
$TT8_MAMPS,0.025466,0.242676
$HUMID,53.03
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.71,54.475
$10V_AH,10.13,51.689
$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,46.850,7.850,69.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,394.317,60.668,134.717,562.957,114.846,0.000,352.688,0.000,329.463,0.000,0.543,0.000
$DEVICE_MAMPS,70.380,1260.720,1340.280,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.015,366.795,290.341,430.359,561.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330600
$DATA_FILE_SIZE,14251,135
$CAP_FILE_SIZE,25963,0
$CFSIZE,1024409600,926613504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,030813,6036.833,-17341.459,4,0.8,16,7.1,0.2,224.1,11,4.9