version: 66.13
glider: 401
mission: 22
dive: 1446
start: 8 21 117 11 51 48
data:
$ID,401
$MISSION,22
$DIVE,1446
$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,22
$R_STBD_OVSHOOT,26
$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
$GPS1,210817,111016,6140.0371,-17353.6191,6,0.8,26,7.0,0.0,155.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-4.1
$GPS2,210817,111016,6140.0371,-17353.6191,6,0.8,26,7.0,0.0,155.1,10,4.9
$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,156.6,29686,-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,-487.5,2398,1955,2354,4092,0.0,0.0,0,21,6.43,0.00,-2.60,0.000,20482,0.024,0.000,1773,1956,2636,2636,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.31,53.66
$GC,26,-1.78,-487.5,1773,1955,2635,4094,0.2,0.0,1,36,0.00,1.17,-3.95,0.000,16644,0.000,1.251,1773,2376,3054,3054,4095,0,0,0,0,0,0,26.29,24.49,26.30,10.38,54.01
$GC,233,-1.78,-487.5,1772,2377,3059,4095,24.9,-17.5,31,243,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1945,3060,3060,4095,0,0,0,0,0,0,26.13,26.09,26.16,10.47,53.07
$GC,281,-1.78,-487.5,1772,1945,3060,4095,31.1,-12.9,37,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1945,3061,3061,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.42,52.99
$GC,328,-1.78,-487.5,1773,1945,3062,4095,37.0,-12.3,43,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1946,3061,3061,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.39,51.02
$GC,373,-1.78,-487.5,1772,1946,3062,4094,42.7,-12.7,49,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1945,3063,3063,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.37,50.31
$GC,420,-1.78,-487.5,1772,1945,3064,4094,48.9,-13.5,55,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1945,3064,3064,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.37,48.93
$GC,468,-1.78,-487.5,1772,1945,3065,4094,55.1,-13.1,61,477,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1945,3065,3065,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.36,47.99
$STATE,504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,513,-0.45,0.0,1773,2148,3066,4094,60.5,-13.2,66,550,4.43,0.00,28.17,1.306,10244,0.054,0.000,2184,2148,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.27,10.35,47.83
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,555,1.78,487.5,2184,2148,2484,4094,63.8,0.0,70,600,7.55,1.10,28.05,1.281,10500,0.031,0.052,2892,2557,1917,1917,4094,0,0,0,0,0,0,25.52,25.46,23.87,10.22,46.92
$GC,838,1.78,487.5,2892,2557,1908,4094,30.7,12.7,110,848,0.00,1.05,0.00,0.000,1030,0.000,0.025,2893,2135,1908,1908,4094,0,0,0,0,0,0,25.88,25.84,25.89,10.08,46.92
$GC,888,1.78,487.5,2892,2134,1907,4094,25.0,11.6,116,896,0.00,1.15,0.00,0.000,260,0.000,0.053,2893,2552,1907,1907,4094,0,0,0,0,0,0,26.17,25.81,26.17,10.08,48.42
$GC,1012,1.85,535.1,2892,2552,1904,4094,12.3,9.8,134,1022,0.15,1.05,3.83,0.409,11270,0.046,0.028,2914,2125,1859,1859,4094,0,0,0,0,0,0,26.02,26.03,24.85,10.17,52.12
$GC,1062,1.86,544.4,2913,2124,1858,4094,7.5,10.4,140,1072,0.00,0.00,2.40,0.148,8198,0.000,0.000,2914,2125,1846,1846,4094,0,0,0,0,0,0,26.30,25.43,24.91,10.17,52.36
$STATE,1107,end climb,SURFACE_DEPTH_REACHED
$STATE,1107,begin surface coast
$FINISH,0.1,1.013114
$STATE,1130,end surface coast,CONTROL_FINISHED_OK
$STATE,1130,begin surface
$SM_CCo,1234,0.00,0.000,0,0,1845,550.36
$SM_GC,0.88,28.08,0.40,0.00,0.021,0.039,0.000,231,1959,1845,-6.59,1.73,550.36,0,0,0,0,0,0,25.98,26.10,26.08
$IRIDIUM_FIX,6149.06,-17422.35,210817,095412
$TT8_MAMPS,0.025466,0.23968
$HUMID,53.22
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.87,40.922
$10V_AH,10.14,41.091
$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,46.625,9.100,62.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,419.007,60.480,117.325,622.235,82.593,0.000,319.111,0.000,363.327,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1250.775,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.826,404.833,320.411,475.634,620.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,14254,149
$CAP_FILE_SIZE,24226,0
$CFSIZE,1024409600,948436992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,121318,6139.442,-17353.969,4,0.8,15,7.0,0.4,30.8,11,4.8