version: 66.13
glider: 401
mission: 22
dive: 915
start: 8 12 117 9 6 2
data:
$ID,401
$MISSION,22
$DIVE,915
$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,500
$COURSE_BIAS,0
$GLIDE_SLOPE,25
$SPEED_FACTOR,1
$RHO,1.0256
$MASS,73198
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,32
$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
$GPS1,120817,082419,6114.4712,-17350.4375,5,0.9,22,7.0,0.9,28.3,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.6
$GPS2,120817,082419,6114.4712,-17350.4375,5,0.9,22,7.0,0.9,28.3,9,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W10N
$TGT_LATLONG,6124.660,-17344.160
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.049150,0.337651
$KALMAN_X,66557.335938,-787.995300,-302.373169,-259499.937500,50.773468
$KALMAN_Y,-47121.679688,2010.355347,713.018982,265085.250000,-45.809204
$MHEAD_RNG_PITCHd_Wd,1.3,19673,-14.0,-10.526,-17.15,4927
$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,8,-1.79,-343.6,2400,1953,2355,4092,0.0,0.0,0,17,6.47,0.00,-0.28,0.000,20482,0.028,0.000,1768,1950,2384,2384,4094,0,0,0,0,0,0,26.09,28.83,26.13,10.33,53.11
$GC,21,-1.79,-343.6,1768,1953,2384,4094,0.0,0.0,1,29,0.00,1.15,-4.30,0.000,16900,0.000,1.274,1768,1526,2890,2890,4094,0,0,0,0,0,0,26.29,24.77,26.30,10.34,53.22
$GC,97,-1.79,-343.6,1768,1526,2891,4094,10.2,-18.1,13,104,0.00,1.00,0.00,0.000,1030,0.000,0.028,1768,1952,2892,2892,4094,0,0,0,0,0,0,26.13,26.11,26.16,10.46,53.22
$GC,136,-1.79,-343.6,1767,1952,2893,4094,17.8,-19.7,19,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1952,2893,2893,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.46,52.28
$GC,174,-1.79,-343.6,1767,1952,2894,4094,24.6,-17.7,25,181,0.00,1.10,0.00,0.000,260,0.000,0.050,1768,2364,2895,2895,4094,0,0,0,0,0,0,26.39,26.09,26.41,10.46,52.59
$GC,285,-1.79,-343.6,1767,2364,2897,4094,39.6,-12.7,43,292,0.00,1.02,0.00,0.000,1030,0.000,0.030,1768,1950,2898,2898,4094,0,0,0,0,0,0,26.24,26.20,26.26,10.38,49.88
$GC,324,-1.79,-343.6,1767,1950,2898,4094,44.7,-13.0,49,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,2898,2898,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.36,49.44
$GC,362,-1.79,-343.6,1767,1950,2899,4094,50.0,-13.6,55,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,2900,2900,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.36,48.66
$GC,400,-1.79,-343.6,1767,1950,2900,4094,55.0,-12.9,61,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,2900,2900,4094,0,0,0,0,0,0,26.53,26.53,26.53,10.35,48.11
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,443,-0.45,0.0,1768,2135,2901,4094,60.1,-13.5,67,473,4.47,0.00,20.60,1.259,10244,0.060,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.23,25.57,24.53,10.34,48.54
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,477,1.79,343.6,2185,2135,2484,4094,62.7,0.0,72,514,7.43,1.12,20.15,1.237,10500,0.032,0.050,2896,2558,2084,2084,4094,0,0,0,0,0,0,25.75,25.69,24.18,10.24,47.59
$GC,564,1.79,343.6,2895,2557,2082,4094,54.4,13.5,86,571,0.00,1.05,0.00,0.000,1030,0.000,0.025,2896,2136,2081,2081,4094,0,0,0,0,0,0,25.63,25.60,25.65,10.15,46.69
$GC,604,1.79,343.6,2895,2136,2080,4094,49.1,13.9,92,610,0.00,1.08,0.00,0.000,516,0.000,0.047,2896,1724,2080,2080,4094,0,0,0,0,0,0,25.94,25.65,25.95,10.15,46.10
$GC,757,1.79,343.6,2895,1723,2075,4094,30.3,12.1,117,763,0.00,0.93,0.00,0.000,1030,0.000,0.028,2895,2108,2076,2076,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.14,47.55
$GC,796,1.79,343.6,2895,2107,2075,4094,25.5,12.5,123,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2107,2076,2076,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.14,47.79
$GC,834,2.00,484.8,2895,2107,2074,4095,22.2,7.6,129,847,0.62,0.00,8.60,0.732,10246,0.034,0.000,2966,2107,1918,1918,4094,0,0,0,0,0,0,26.06,25.73,24.94,10.17,48.34
$GC,880,2.00,484.8,2965,2107,1917,4094,17.6,10.9,136,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2107,1917,1917,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.17,49.84
$GC,918,2.00,484.8,2965,2107,1916,4094,12.7,12.5,142,925,0.00,1.23,0.00,0.000,260,0.000,0.054,2966,2561,1916,1916,4094,0,0,0,0,0,0,26.24,25.93,26.25,10.19,51.49
$GC,963,2.00,484.8,2965,2560,1913,4094,7.4,12.9,149,969,0.00,1.20,0.00,0.000,1030,0.000,0.027,2966,2077,1915,1915,4094,0,0,0,0,0,0,26.08,26.05,26.10,10.21,51.53
$GC,1002,2.00,484.8,2965,2076,1913,4094,2.3,15.3,155,1008,0.00,0.93,0.00,0.000,516,0.000,0.057,2966,1723,1913,1913,4094,0,0,0,0,0,0,26.32,26.01,26.32,10.21,52.00
$STATE,1013,end climb,SURFACE_DEPTH_REACHED
$STATE,1013,begin surface coast
$FINISH,0.1,1.023966
$STATE,1027,end surface coast,CONTROL_FINISHED_OK
$STATE,1027,begin surface
$SM_CCo,1128,0.00,0.000,0,0,1912,491.98
$SM_GC,0.98,28.33,0.55,0.00,0.020,0.031,0.000,230,1985,1912,-6.59,-1.28,491.98,0,0,0,0,0,0,26.02,26.15,26.11
$IRIDIUM_FIX,6149.06,-17422.35,120817,081558
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.34
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,24.18,24.977
$10V_AH,10.41,28.215
$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,47.325,13.350,49.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,429.525,320.887,150.504,230.872,60.608,33.416,318.104,0.000,239.964,0.000,0.541,0.000
$DEVICE_MAMPS,59.670,1274.490,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.083,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,10790,159
$CAP_FILE_SIZE,29332,0
$CFSIZE,1024409600,974536704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120817,092550,6115.188,-17349.537,8,0.8,23,7.0,0.5,114.7,10,4.8