version: 66.13
glider: 401
mission: 22
dive: 2047
start: 8 31 117 19 55 38
data:
$ID,401
$MISSION,22
$DIVE,2047
$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,29
$R_STBD_OVSHOOT,47
$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
$GPS1,310817,194453,6011.7314,-17328.0234,37,0.8,41,7.2,0.4,356.4,11,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-39.2
$GPS2,310817,195459,6011.7407,-17328.1387,5,0.7,17,7.2,0.5,303.9,11,4.8
$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,134.1,13474,-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,-585.0,229,1985,1786,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.086,0.000,709,1985,1786,1786,4095,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.33
$GC,24,-1.82,-585.0,709,1984,1786,4095,0.7,0.0,1,55,11.20,1.30,-13.10,0.000,19204,0.042,1.248,1752,1527,3172,3172,4095,0,0,0,0,0,0,25.88,23.96,25.96,10.26,51.37
$GC,290,-1.82,-585.0,1751,1526,3178,4095,30.2,-12.6,44,297,0.00,0.95,0.00,0.000,1030,0.000,0.025,1752,1940,3178,3178,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.50,50.55
$GC,332,-1.82,-585.0,1751,1940,3179,4095,35.5,-12.9,50,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1940,3179,3179,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.48,49.84
$GC,372,-1.82,-585.0,1751,1940,3180,4094,40.9,-13.6,56,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1940,3180,3180,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.47,48.89
$GC,413,-1.82,-585.0,1752,1940,3181,4094,46.4,-13.4,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1940,3181,3181,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.45,48.38
$GC,453,-1.82,-585.0,1751,1940,3182,4095,52.0,-14.2,68,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1940,3182,3182,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.44,47.75
$GC,494,-1.82,-585.0,1751,1940,3183,4095,57.8,-14.0,74,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1940,3183,3183,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.44,47.36
$STATE,504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,516,-0.45,0.0,1752,2133,3183,4095,60.0,-14.0,76,558,4.65,0.00,33.58,1.314,10244,0.052,0.000,2185,2133,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,24.02,10.43,47.36
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,559,begin climb
$GC,565,1.82,585.0,2185,2132,2484,4094,63.5,0.0,83,612,7.68,0.00,33.15,1.281,11270,0.028,0.000,2903,2133,1805,1805,4094,0,0,0,0,0,0,25.46,25.63,23.65,10.28,47.59
$GC,647,1.82,585.0,2902,2133,1803,4094,56.6,12.7,96,653,0.00,1.12,0.00,0.000,516,0.000,0.042,2903,1713,1803,1803,4095,0,0,0,0,0,0,25.44,25.10,25.46,10.13,45.78
$GC,778,1.82,585.0,2902,1713,1800,4095,39.4,13.1,117,785,0.00,1.00,0.00,0.000,1030,0.000,0.028,2903,2119,1799,1799,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.12,46.81
$GC,819,1.82,585.0,2902,2118,1797,4094,34.0,13.5,123,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1798,1798,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.11,47.16
$GC,860,1.82,585.0,2902,2118,1797,4094,28.7,12.8,129,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1796,1796,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.10,47.04
$GC,901,1.82,585.0,2903,2118,1795,4095,23.3,13.2,135,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1796,1796,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.11,47.36
$GC,941,1.82,585.0,2902,2118,1794,4094,18.6,11.6,141,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1794,1794,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.16,48.89
$GC,982,1.82,585.0,2902,2118,1793,4094,14.4,10.5,147,988,0.00,1.08,0.00,0.000,516,0.000,0.044,2903,1710,1793,1793,4094,0,0,0,0,0,0,26.27,25.84,26.29,10.18,51.02
$GC,1083,1.85,605.3,2902,1710,1790,4094,3.9,10.3,163,1091,0.00,1.00,2.47,0.162,9222,0.000,0.029,2903,2124,1777,1777,4094,0,0,0,0,0,0,26.07,26.04,24.47,10.20,52.16
$STATE,1096,end climb,FINISH_DEPTH_REACHED
$STATE,1096,begin subsurface finish
$FINISH1,1.9,1.024166,100
$GC,1108,0.15,99.9,2902,2124,1776,4094,1.9,11.0,165,1122,5.45,0.00,-5.40,0.000,20486,0.044,0.000,2385,2125,2374,2374,4094,0,0,0,0,0,0,26.11,24.39,26.15,10.20,52.24
$FINISH2,0.1
$STATE,1123,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1123,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,310817,183534
$TT8_MAMPS,0.026215,0.15729
$HUMID,52.63
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.65,59.635
$10V_AH,10.21,55.435
$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,34.600,6.900,69.200,0.000,0.000,23.171,20.986,290.951,0.000,0.000,18.566,430.505,265.159,150.508,534.819,354.453,0.000,331.973,0.000,252.707,0.000,0.545,0.000
$DEVICE_MAMPS,85.680,1247.715,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10834,167
$CAP_FILE_SIZE,30250,0
$CFSIZE,1024409600,918896640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310817,195459,6011.741,-17328.139,5,0.7,17,7.2,0.5,303.9,11,4.8