version: 66.13
glider: 401
mission: 22
dive: 1905
start: 8 29 117 8 54 28
data:
$ID,401
$MISSION,22
$DIVE,1905
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,290817,081231,6033.7988,-17341.2871,5,0.8,17,7.1,0.5,332.4,10,4.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-4.9
$GPS2,290817,081231,6033.7988,-17341.2871,5,0.8,17,7.1,0.5,332.4,10,4.6
$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,154.0,16249,-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,-585.0,2389,1961,2368,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.022,0.000,1842,1961,2368,2368,4095,0,0,0,0,0,0,26.39,28.83,28.83,10.34,53.78
$GC,23,-1.82,-585.0,1842,1961,2368,4095,0.1,0.0,1,37,0.60,1.25,-7.28,0.000,21252,0.031,1.255,1777,1517,3171,3171,4095,0,0,0,0,0,0,26.11,24.25,26.13,10.34,53.70
$GC,254,-1.82,-585.0,1776,1517,3177,4095,29.9,-12.3,38,261,0.00,1.02,0.00,0.000,1030,0.000,0.027,1777,1955,3177,3177,4095,0,0,0,0,0,0,26.22,26.19,26.24,10.47,52.48
$GC,295,-1.82,-585.0,1776,1954,3178,4095,34.9,-12.4,44,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1954,3178,3178,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.45,51.37
$GC,335,-1.82,-585.0,1776,1954,3178,4095,39.8,-12.0,50,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1954,3179,3179,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.43,51.41
$GC,375,-1.82,-585.0,1776,1954,3179,4094,44.5,-11.6,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1954,3180,3180,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.43,49.80
$GC,416,-1.82,-585.0,1776,1954,3181,4094,49.2,-11.5,62,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1954,3181,3181,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.42,49.68
$GC,456,-1.82,-585.0,1776,1954,3181,4094,54.0,-12.2,68,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1954,3181,3181,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.41,49.29
$GC,496,-1.82,-585.0,1776,1954,3182,4095,59.0,-12.7,74,502,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1954,3182,3182,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.40,49.40
$STATE,507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,507,begin apogee
$GC,518,-0.45,0.0,1776,2137,3183,4094,60.9,-12.3,76,560,4.38,0.00,33.30,1.314,10244,0.050,0.000,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.17,25.20,24.13,10.40,49.21
$STATE,561,end apogee,CONTROL_FINISHED_OK
$STATE,561,begin climb
$GC,566,1.82,585.0,2186,2137,2484,4094,63.9,0.0,83,613,7.62,0.00,33.15,1.280,11270,0.030,0.000,2902,2137,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.72,10.25,48.14
$GC,648,1.82,585.0,2902,2137,1802,4094,56.9,12.7,96,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1801,1801,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.11,47.24
$GC,688,1.82,585.0,2902,2137,1800,4094,51.3,14.1,102,695,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1710,1800,1800,4094,0,0,0,0,0,0,25.67,25.32,25.68,10.10,47.24
$GC,819,1.82,585.0,2902,1710,1796,4094,33.3,13.3,123,826,0.00,1.02,0.00,0.000,1030,0.000,0.031,2902,2123,1795,1795,4094,0,0,0,0,0,0,25.76,25.72,25.79,10.09,48.58
$GC,860,1.82,585.0,2902,2123,1795,4094,28.0,12.6,129,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1794,1794,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.09,48.07
$GC,901,1.82,585.0,2902,2123,1794,4094,22.9,12.5,135,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.10,49.17
$GC,941,1.82,585.0,2902,2123,1792,4094,18.3,11.2,141,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1792,1792,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.13,49.44
$GC,981,1.91,645.3,2902,2123,1790,4094,14.3,9.8,147,995,0.22,1.10,4.47,0.477,10756,0.043,0.046,2934,1705,1731,1731,4094,0,0,0,0,0,0,26.03,25.60,24.60,10.16,50.78
$STATE,1095,end climb,SURFACE_DEPTH_REACHED
$STATE,1095,begin surface coast
$FINISH,0.5,1.024153
$STATE,1107,end surface coast,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$SM_CCo,1213,0.00,0.000,0,0,1727,650.82
$SM_GC,0.98,28.15,0.62,0.00,0.020,0.028,0.000,239,1993,1727,-6.55,-0.96,650.82,0,0,0,0,0,0,26.10,26.11,26.13
$IRIDIUM_FIX,5952.82,-17420.78,290817,065451
$TT8_MAMPS,0.025466,0.102613
$HUMID,54.41
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.70
$XPDR_PINGS,1
$24V_AH,23.72,54.960
$10V_AH,10.36,52.034
$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,46.575,7.075,70.925,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,433.237,333.188,161.624,241.899,112.895,0.000,334.187,0.000,251.120,0.000,0.544,0.000
$DEVICE_MAMPS,49.725,1254.600,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.329,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,10767,167
$CAP_FILE_SIZE,26904,0
$CFSIZE,1024409600,925876224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,091601,6033.581,-17340.941,7,0.9,37,7.1,0.0,245.2,9,4.6