version: 66.13
glider: 401
mission: 22
dive: 2031
start: 8 31 117 13 8 42
data:
$ID,401
$MISSION,22
$DIVE,2031
$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,32
$R_STBD_OVSHOOT,21
$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
$GPS1,310817,122739,6014.9556,-17329.0293,5,0.8,16,7.1,0.0,0.0,10,4.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.0
$GPS2,310817,122739,6014.9556,-17329.0293,5,0.8,16,7.1,0.0,0.0,10,4.6
$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,143.6,18889,-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,-585.0,2389,1937,2373,4092,0.0,0.0,0,18,5.55,0.00,0.00,0.000,4097,0.022,0.000,1844,1938,2373,2373,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.33,53.11
$GC,24,-1.82,-585.0,1843,1929,2373,4095,0.1,0.0,1,38,0.62,1.30,-7.57,0.000,20740,0.028,1.240,1772,2387,3171,3171,4095,0,0,0,0,0,0,26.09,24.18,26.11,10.33,52.99
$GC,225,-1.82,-585.0,1771,2387,3176,4095,24.5,-14.2,33,232,0.00,1.08,0.00,0.000,1030,0.000,0.030,1772,1956,3176,3176,4094,0,0,0,0,0,0,26.13,26.09,26.15,10.48,53.07
$GC,266,-1.82,-585.0,1772,1955,3177,4094,30.0,-13.7,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3177,3177,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.45,52.16
$GC,307,-1.82,-585.0,1771,1956,3178,4094,35.3,-12.9,45,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3178,3178,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.43,51.22
$GC,347,-1.82,-585.0,1771,1956,3179,4094,40.6,-13.5,51,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3179,3179,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.42,50.70
$GC,388,-1.82,-585.0,1771,1956,3180,4095,45.8,-12.6,57,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3180,3180,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.41,50.63
$GC,428,-1.82,-585.0,1771,1956,3181,4094,50.9,-12.8,63,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3181,3181,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.40,50.07
$GC,468,-1.82,-585.0,1771,1955,3182,4094,56.0,-12.7,69,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3182,3182,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.41,49.76
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,510,-0.45,0.0,1771,2154,3183,4094,60.5,-13.0,74,551,4.43,0.00,33.47,1.314,10244,0.050,0.000,2185,2154,2484,2484,4094,0,0,0,0,0,0,26.15,25.18,24.08,10.39,49.44
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,553,begin climb
$GC,558,1.82,585.0,2185,2154,2484,4094,63.6,0.0,81,605,7.65,0.00,33.12,1.278,11270,0.030,0.000,2901,2154,1803,1803,4094,0,0,0,0,0,0,25.49,25.67,23.70,10.25,49.33
$GC,640,1.82,585.0,2901,2154,1802,4094,56.5,12.7,94,647,0.00,1.20,0.00,0.000,516,0.000,0.043,2901,1713,1801,1801,4095,0,0,0,0,0,0,25.46,25.13,25.47,10.10,47.51
$GC,736,1.82,585.0,2901,1713,1798,4095,43.5,13.7,109,742,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2125,1798,1798,4094,0,0,0,0,0,0,25.60,25.55,25.62,10.09,47.79
$GC,777,1.82,585.0,2901,2124,1797,4094,37.8,13.5,115,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1797,1797,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.09,47.95
$GC,818,1.82,585.0,2901,2124,1795,4094,32.5,13.0,121,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1796,1796,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.09,48.30
$GC,858,1.82,585.0,2901,2124,1795,4094,27.2,13.2,127,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1794,1794,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.08,48.54
$GC,899,1.82,585.0,2901,2124,1794,4094,22.0,12.5,133,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1793,1793,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.08,48.85
$GC,939,1.82,585.0,2901,2124,1792,4094,17.4,10.9,139,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1792,1792,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.11,49.37
$GC,980,1.87,618.4,2901,2124,1791,4094,13.3,10.1,145,988,0.10,1.08,3.17,0.328,10756,0.073,0.044,2922,1714,1760,1760,4094,0,0,0,0,0,0,26.05,25.53,24.45,10.15,50.70
$GC,1071,1.90,638.4,2921,1714,1759,4094,3.5,10.3,159,1079,0.00,1.00,2.72,0.209,9222,0.000,0.027,2922,2132,1739,1739,4094,0,0,0,0,0,0,26.06,26.03,24.57,10.16,52.79
$STATE,1084,end climb,SURFACE_DEPTH_REACHED
$STATE,1084,begin surface coast
$FINISH,0.1,1.012768
$STATE,1098,end surface coast,CONTROL_FINISHED_OK
$STATE,1098,begin surface
$SM_CCo,1204,0.00,0.000,0,0,1738,642.23
$SM_GC,0.79,28.00,0.47,0.00,0.020,0.042,0.000,236,1947,1738,-6.55,1.23,642.23,0,0,0,0,0,0,26.13,26.03,26.15
$IRIDIUM_FIX,5952.82,-17420.78,310817,110905
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.66
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.70,59.092
$10V_AH,10.34,55.051
$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,46.350,8.175,72.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.682,319.505,165.733,236.358,124.205,0.000,339.896,0.000,245.581,0.000,0.541,0.000
$DEVICE_MAMPS,72.675,1240.065,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10812,163
$CAP_FILE_SIZE,28582,0
$CFSIZE,1024409600,919683072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,132952,6014.457,-17328.432,5,0.9,22,7.2,0.0,60.7,10,5.0