version: 66.13
glider: 401
mission: 22
dive: 2016
start: 8 31 117 7 4 55
data:
$ID,401
$MISSION,22
$DIVE,2016
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,310817,062327,6017.1338,-17329.5195,5,0.8,17,7.1,0.0,213.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.7
$GPS2,310817,062327,6017.1338,-17329.5195,5,0.8,17,7.1,0.0,213.6,10,4.7
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W20S
$TGT_LATLONG,6006.060,-17319.020
$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,147.6,22684,-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,6,begin dive
$GC,11,-1.82,-585.0,2386,1946,2375,4092,0.0,0.0,0,22,6.43,0.00,-2.00,0.000,20482,0.024,0.000,1761,1946,2588,2588,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.33,53.30
$GC,28,-1.82,-585.0,1760,1946,2588,4094,0.1,0.0,1,37,0.00,0.00,-5.53,0.000,16390,0.000,0.000,1761,1946,3170,3170,4095,0,0,0,0,0,0,26.45,24.52,26.46,10.37,53.50
$GC,75,-1.82,-585.0,1760,1946,3171,4095,4.0,-14.3,7,84,0.00,1.08,0.00,0.000,516,0.000,0.050,1761,1522,3171,3171,4095,0,0,0,0,0,0,26.45,26.00,26.46,10.51,53.42
$GC,142,-1.82,-585.0,1760,1522,3174,4095,16.1,-18.6,16,151,0.00,1.02,0.00,0.000,1030,0.000,0.028,1761,1952,3174,3174,4095,0,0,0,0,0,0,26.22,26.18,26.22,10.51,53.66
$GC,190,-1.82,-585.0,1760,1953,3175,4095,24.9,-18.9,22,199,0.00,1.12,0.00,0.000,260,0.000,0.048,1761,2379,3175,3175,4095,0,0,0,0,0,0,26.51,26.03,26.52,10.48,53.07
$GC,290,-1.82,-585.0,1760,2379,3178,4095,39.0,-13.8,36,299,0.00,1.02,0.00,0.000,1030,0.000,0.028,1761,1971,3178,3178,4094,0,0,0,0,0,0,26.27,26.24,26.29,10.43,51.69
$GC,340,-1.82,-585.0,1760,1971,3179,4094,45.4,-13.2,42,349,0.00,1.17,0.00,0.000,516,0.000,0.051,1761,1509,3179,3179,4095,0,0,0,0,0,0,26.58,26.07,26.59,10.42,50.98
$GC,422,-1.82,-585.0,1760,1509,3181,4095,56.6,-13.3,53,432,0.00,1.05,0.00,0.000,1030,0.000,0.028,1761,1956,3181,3181,4095,0,0,0,0,0,0,26.32,26.29,26.34,10.40,49.68
$STATE,446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,458,-0.45,0.0,1760,2145,3183,4094,60.7,-13.6,56,501,4.55,0.00,33.67,1.325,10244,0.052,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.17,25.20,24.10,10.40,49.76
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,507,1.82,585.0,2185,2145,2484,4094,64.4,0.0,61,552,7.70,0.00,33.35,1.287,11270,0.030,0.000,2904,2145,1802,1802,4094,0,0,0,0,0,0,25.51,25.70,23.70,10.25,48.81
$GC,593,1.82,585.0,2903,2145,1802,4094,57.7,12.5,71,602,0.00,1.20,0.00,0.000,516,0.000,0.044,2904,1703,1801,1801,4094,0,0,0,0,0,0,25.49,25.16,25.50,10.11,47.32
$GC,720,1.82,585.0,2903,1703,1797,4094,40.1,13.6,89,729,0.00,1.05,0.00,0.000,1030,0.000,0.031,2904,2125,1797,1797,4094,0,0,0,0,0,0,25.67,25.65,25.71,10.09,48.34
$GC,770,1.82,585.0,2903,2124,1795,4094,33.6,13.3,95,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1796,1796,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.09,48.85
$GC,819,1.82,585.0,2903,2124,1794,4094,26.9,13.7,101,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1794,1794,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.10,48.54
$GC,868,1.82,585.0,2903,2125,1793,4094,20.8,11.5,107,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1792,1792,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.12,49.29
$GC,917,1.85,606.8,2903,2125,1791,4094,15.9,10.3,113,927,0.00,0.00,2.55,0.203,8198,0.000,0.000,2904,2125,1776,1776,4094,0,0,0,0,0,0,26.28,25.00,24.39,10.15,50.63
$GC,967,1.85,606.8,2903,2125,1775,4094,10.5,10.9,119,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1775,1775,4094,0,0,0,0,0,0,26.32,26.32,26.33,10.16,51.37
$GC,1017,1.85,609.4,2903,2125,1773,4094,5.1,10.5,125,1026,0.00,1.10,0.00,0.000,516,0.000,0.047,2903,1704,1774,1774,4094,0,0,0,0,0,0,26.36,25.92,26.37,10.17,52.71
$STATE,1040,end climb,SURFACE_DEPTH_REACHED
$STATE,1040,begin surface coast
$FINISH,0.1,1.009253
$STATE,1063,end surface coast,CONTROL_FINISHED_OK
$STATE,1063,begin surface
$SM_CCo,1170,0.00,0.000,0,0,1772,612.18
$SM_GC,0.95,27.90,0.62,0.00,0.020,0.033,0.000,230,1952,1772,-6.59,-1.18,612.18,0,0,0,0,0,0,25.97,26.10,26.05
$IRIDIUM_FIX,5952.82,-17420.78,310817,050546
$TT8_MAMPS,0.025466,0.253911
$HUMID,52.55
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.70,58.611
$10V_AH,10.13,54.709
$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,46.575,11.400,69.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,384.373,60.320,134.824,544.017,116.329,0.000,345.976,0.000,319.753,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,51.255,1324.980,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.085,355.908,281.694,417.453,542.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10788,131
$CAP_FILE_SIZE,26260,0
$CFSIZE,1024409600,920420352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,072545,6016.502,-17329.262,8,0.8,36,7.1,0.0,184.0,10,4.8