version: 66.13
glider: 401
mission: 22
dive: 2045
start: 8 31 117 19 3 9
data:
$ID,401
$MISSION,22
$DIVE,2045
$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,21
$R_STBD_OVSHOOT,27
$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
$GPS1,310817,184220,6011.9961,-17327.7539,5,0.9,28,7.2,0.3,191.8,9,4.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-3.3
$GPS2,310817,184220,6011.9961,-17327.7539,5,0.9,28,7.2,0.3,191.8,9,4.7
$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,136.5,13634,-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,-585.0,2389,1962,2371,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.020,0.000,1837,1961,2371,2371,4095,0,0,0,0,0,0,26.39,28.83,28.83,10.34,52.79
$GC,24,-1.82,-585.0,1837,1961,2371,4095,0.0,0.0,1,38,0.55,1.25,-7.55,0.000,20996,0.030,1.255,1773,1522,3170,3170,4095,0,0,0,0,0,0,26.12,24.18,26.14,10.34,52.36
$GC,249,-1.82,-585.0,1773,1522,3176,4095,29.9,-12.3,37,256,0.00,1.02,0.00,0.000,1030,0.000,0.026,1773,1957,3176,3176,4095,0,0,0,0,0,0,26.20,26.17,26.23,10.45,51.65
$GC,291,-1.82,-585.0,1773,1957,3177,4095,35.1,-12.7,43,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3177,3177,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.44,51.14
$GC,331,-1.82,-585.0,1773,1957,3178,4094,40.3,-12.8,49,338,0.00,1.08,0.00,0.000,260,0.000,0.047,1773,2369,3178,3178,4095,0,0,0,0,0,0,26.52,26.06,26.53,10.43,50.90
$GC,409,-1.82,-585.0,1773,2368,3180,4095,50.6,-13.6,61,415,0.00,1.05,0.00,0.000,1030,0.000,0.030,1773,1948,3180,3180,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.41,49.17
$GC,450,-1.82,-585.0,1773,1948,3181,4095,56.2,-13.3,67,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1948,3181,3181,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,49.13
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,485,-0.45,0.0,1773,2139,3182,4095,60.1,-14.0,71,527,4.45,0.00,33.62,1.314,10244,0.051,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.13,25.18,24.08,10.40,49.09
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,533,1.82,585.0,2186,2138,2484,4094,63.6,0.0,78,581,7.68,0.00,33.28,1.279,11270,0.030,0.000,2902,2139,1802,1802,4094,0,0,0,0,0,0,25.49,25.66,23.68,10.26,48.34
$GC,615,1.82,585.0,2902,2138,1801,4094,56.6,12.9,91,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.46,10.11,47.67
$GC,656,1.82,585.0,2902,2138,1800,4094,51.2,13.1,97,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1800,1800,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.10,47.59
$GC,697,1.82,585.0,2901,2138,1798,4094,45.8,13.2,103,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1798,1798,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.10,47.63
$GC,738,1.82,585.0,2902,2138,1797,4094,40.4,13.4,109,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1797,1797,4095,0,0,0,0,0,0,25.94,25.95,25.94,10.09,48.14
$GC,778,1.82,585.0,2902,2139,1796,4095,35.0,13.1,115,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1796,1796,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.09,48.34
$GC,819,1.82,585.0,2902,2138,1795,4094,29.6,13.4,121,825,0.00,1.12,0.00,0.000,516,0.000,0.044,2902,1714,1794,1794,4094,0,0,0,0,0,0,26.10,25.69,26.11,10.09,48.50
$GC,978,1.88,625.6,2902,1714,1791,4094,11.8,10.0,146,987,0.12,1.00,3.45,0.357,11270,0.044,0.028,2925,2127,1753,1753,4094,0,0,0,0,0,0,25.96,25.98,24.51,10.16,52.20
$GC,1022,1.88,625.6,2924,2126,1752,4094,6.6,10.9,152,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2126,1752,1752,4094,0,0,0,0,0,0,26.32,26.34,26.32,10.17,52.28
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1057,begin subsurface finish
$FINISH1,1.7,1.024168,100
$GC,1070,0.15,99.8,2925,2126,1750,4095,1.7,12.1,158,1084,5.53,0.00,-5.62,0.000,20486,0.024,0.000,2388,2134,2373,2373,4094,0,0,0,0,0,0,26.08,24.39,26.13,10.18,53.34
$FINISH2,0.1
$STATE,1085,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$IRIDIUM_FIX,5927.26,-17030.17,310817,172440
$TT8_MAMPS,0.024717,0.110852
$HUMID,54.37
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.68,59.565
$10V_AH,10.34,55.385
$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,23.925,7.400,70.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,412.731,260.682,134.319,232.140,107.485,0.000,301.712,0.000,241.420,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1255.365,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330820
$DATA_FILE_SIZE,10778,160
$CAP_FILE_SIZE,24759,0
$CFSIZE,1024409600,918994944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,184220,6011.996,-17327.754,5,0.9,28,7.2,0.3,191.8,9,4.7