version: 66.13
glider: 401
mission: 22
dive: 1428
start: 8 21 117 4 47 36
data:
$ID,401
$MISSION,22
$DIVE,1428
$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,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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,28
$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
$GPS1,210817,040726,6144.0615,-17357.6348,2,1.2,47,7.0,0.3,73.8,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-3.9
$GPS2,210817,040726,6144.0615,-17357.6348,2,1.2,47,7.0,0.3,73.8,8,3.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,154.6,37864,-11.5,-10.526,-14.94,6951
$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,10,-1.78,-487.5,2395,1969,2348,4092,0.0,0.0,0,21,6.40,0.00,-2.20,0.000,20482,0.023,0.000,1776,1969,2587,2587,4094,0,0,0,0,0,0,26.10,28.83,26.17,10.31,54.68
$GC,26,-1.78,-487.5,1776,1969,2587,4094,0.2,0.0,1,36,0.00,1.12,-4.22,0.000,16644,0.000,1.258,1776,2381,3056,3056,4095,0,0,0,0,0,0,26.37,24.55,26.37,10.36,54.44
$GC,173,-1.78,-487.5,1775,2381,3060,4095,20.7,-17.1,22,181,0.00,1.08,0.00,0.000,1030,0.000,0.031,1776,1949,3060,3060,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.46,53.58
$GC,221,-1.78,-487.5,1775,1949,3062,4094,29.1,-17.8,28,230,0.00,1.10,0.00,0.000,516,0.000,0.051,1776,1517,3062,3062,4095,0,0,0,0,0,0,26.43,26.08,26.44,10.43,53.11
$GC,294,-1.78,-487.5,1775,1517,3063,4095,38.5,-12.3,38,304,0.00,1.05,0.00,0.000,1030,0.000,0.027,1776,1962,3064,3064,4095,0,0,0,0,0,0,26.23,26.22,26.26,10.38,51.33
$GC,342,-1.78,-487.5,1775,1962,3064,4095,44.6,-13.0,44,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1962,3064,3064,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.37,50.07
$GC,390,-1.78,-487.5,1775,1962,3066,4094,50.7,-13.2,50,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1962,3066,3066,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.36,49.64
$GC,438,-1.78,-487.5,1775,1962,3067,4094,57.0,-13.2,56,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1962,3067,3067,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.35,49.37
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,470,-0.45,0.0,1775,2143,3068,4094,60.7,-13.0,59,506,4.40,0.00,28.35,1.318,10244,0.055,0.000,2184,2143,2483,2483,4094,0,0,0,0,0,0,26.21,25.32,24.28,10.34,48.97
$STATE,507,end apogee,CONTROL_FINISHED_OK
$STATE,507,begin climb
$GC,511,1.78,487.5,2184,2143,2484,4094,64.0,0.0,63,557,7.53,1.12,28.00,1.287,10756,0.031,0.044,2894,1713,1916,1916,4094,0,0,0,0,0,0,25.53,25.48,23.86,10.22,47.51
$GC,601,1.78,487.5,2894,1713,1915,4094,57.0,12.5,74,610,0.00,1.05,0.00,0.000,1030,0.000,0.030,2894,2131,1914,1914,4094,0,0,0,0,0,0,25.40,25.37,25.44,10.09,45.82
$GC,648,1.78,487.5,2894,2131,1913,4094,50.9,13.0,80,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1913,1913,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.08,46.37
$GC,695,1.78,487.5,2894,2130,1912,4094,44.8,13.2,86,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1911,1911,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.08,46.37
$GC,742,1.78,487.5,2893,2131,1911,4094,38.5,13.3,92,751,0.00,1.12,0.00,0.000,516,0.000,0.046,2894,1709,1910,1910,4094,0,0,0,0,0,0,26.01,25.71,26.02,10.07,46.61
$GC,874,1.96,611.1,2894,1709,1907,4094,22.3,8.7,111,894,0.52,1.08,7.82,0.705,11270,0.031,0.029,2953,2145,1770,1770,4094,0,0,0,0,0,0,25.98,25.93,24.72,10.11,47.87
$GC,933,1.96,611.1,2952,2145,1769,4094,16.0,11.7,118,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2145,1769,1769,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,50.27
$GC,981,1.96,611.1,2952,2145,1767,4094,10.6,11.1,124,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2145,1768,1768,4094,0,0,0,0,0,0,26.22,26.22,26.22,10.14,51.53
$GC,1028,1.96,611.1,2952,2145,1766,4094,5.0,12.4,130,1038,0.00,1.15,0.00,0.000,516,0.000,0.047,2953,1712,1766,1766,4094,0,0,0,0,0,0,26.27,25.92,26.27,10.15,52.12
$STATE,1052,end climb,SURFACE_DEPTH_REACHED
$STATE,1052,begin surface coast
$FINISH,0.3,1.023819
$STATE,1067,end surface coast,CONTROL_FINISHED_OK
$STATE,1067,begin surface
$SM_CCo,1171,0.00,0.000,0,0,1764,619.05
$SM_GC,0.92,28.50,0.60,0.00,0.021,0.034,0.000,231,1957,1764,-6.59,-1.28,619.05,0,0,0,0,0,0,26.01,26.04,26.08
$IRIDIUM_FIX,6149.06,-17422.35,210817,025031
$TT8_MAMPS,0.026964,0.241178
$HUMID,53.07
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.86,40.415
$10V_AH,10.14,40.673
$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,47.350,11.275,64.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.020,60.253,135.214,565.651,87.705,0.000,353.465,0.000,330.363,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1257.660,1318.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.433,366.802,290.321,430.418,562.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330768
$DATA_FILE_SIZE,14440,135
$CAP_FILE_SIZE,26366,0
$CFSIZE,1024409600,949321728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,050801,6143.789,-17356.689,5,0.7,14,7.0,0.7,16.9,12,4.9