version: 66.13
glider: 401
mission: 22
dive: 1458
start: 8 21 117 16 44 13
data:
$ID,401
$MISSION,22
$DIVE,1458
$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,39
$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
$GPS1,210817,160315,6138.0557,-17353.9883,6,0.7,15,7.0,0.0,313.8,11,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.1
$GPS2,210817,160315,6138.0557,-17353.9883,6,0.7,15,7.0,0.0,313.8,11,4.8
$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,153.7,26293,-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,-487.5,2394,1933,2361,4092,0.0,0.0,0,21,6.28,0.00,-2.75,0.000,20482,0.024,0.000,1785,1933,2661,2661,4095,0,0,0,0,0,0,26.07,28.83,26.12,10.31,53.58
$GC,26,-1.78,-487.5,1785,1933,2661,4095,0.2,0.0,1,36,0.00,1.23,-3.70,0.000,16644,0.000,1.248,1785,2375,3056,3056,4094,0,0,0,0,0,0,26.29,24.48,26.29,10.38,53.58
$GC,240,-1.78,-487.5,1784,2375,3061,4094,23.7,-16.6,32,249,0.00,1.02,0.00,0.000,1030,0.000,0.031,1785,1963,3061,3061,4095,0,0,0,0,0,0,26.16,26.08,26.16,10.48,53.34
$GC,289,-1.78,-487.5,1784,1963,3062,4095,30.5,-12.9,38,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1963,3062,3062,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.43,52.55
$GC,337,-1.78,-487.5,1784,1963,3064,4095,36.5,-12.5,44,346,0.00,1.12,0.00,0.000,516,0.000,0.052,1785,1521,3064,3064,4095,0,0,0,0,0,0,26.45,26.10,26.46,10.40,51.18
$GC,404,-1.78,-487.5,1784,1521,3065,4095,44.8,-12.4,53,412,0.00,1.00,0.00,0.000,1030,0.000,0.027,1785,1951,3065,3065,4095,0,0,0,0,0,0,26.26,26.25,26.27,10.38,49.37
$GC,450,-1.78,-487.5,1784,1950,3066,4095,50.6,-12.8,59,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1950,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.36,48.54
$GC,495,-1.78,-487.5,1784,1950,3067,4094,56.6,-13.2,65,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1950,3067,3067,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.36,48.03
$STATE,524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,524,begin apogee
$GC,533,-0.45,0.0,1784,2143,3068,4095,60.7,-12.3,69,569,4.30,0.00,28.35,1.309,10244,0.054,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.28,10.35,47.63
$STATE,570,end apogee,CONTROL_FINISHED_OK
$STATE,570,begin climb
$GC,574,1.78,487.5,2184,2143,2484,4094,63.8,0.0,73,619,7.55,0.00,28.02,1.283,11270,0.031,0.000,2892,2143,1916,1916,4094,0,0,0,0,0,0,25.59,25.75,23.85,10.22,47.08
$GC,658,1.78,487.5,2891,2142,1913,4094,57.2,12.7,83,667,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1713,1915,1915,4095,0,0,0,0,0,0,25.60,25.33,25.60,10.09,46.18
$GC,750,1.78,487.5,2891,1713,1912,4095,44.7,13.6,96,761,0.00,1.02,0.03,0.004,9222,0.000,0.030,2892,2125,1912,1912,4094,0,0,0,0,0,0,25.67,25.64,25.69,10.08,46.18
$GC,800,1.78,487.5,2892,2125,1911,4094,38.1,13.6,102,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1910,1910,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.07,46.92
$GC,848,1.78,487.5,2891,2125,1909,4094,31.7,13.2,108,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1908,1908,4095,0,0,0,0,0,0,26.09,26.10,26.10,10.08,46.96
$GC,896,1.78,487.5,2892,2125,1907,4095,25.6,12.5,114,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1907,1907,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.09,47.40
$GC,945,1.83,524.6,2891,2125,1907,4094,20.7,10.0,120,955,0.10,1.10,3.42,0.402,10756,0.078,0.046,2908,1711,1871,1871,4094,0,0,0,0,0,0,26.00,25.69,24.70,10.14,48.62
$GC,1032,1.83,524.6,2907,1710,1869,4094,11.7,10.8,132,1041,0.00,1.02,0.00,0.000,1030,0.000,0.031,2908,2129,1869,1869,4095,0,0,0,0,0,0,26.06,25.96,26.05,10.16,51.61
$GC,1080,1.90,568.7,2907,2128,1868,4095,6.7,9.9,138,1090,0.15,0.00,4.03,0.401,10246,0.056,0.000,2931,2129,1819,1819,4094,0,0,0,0,0,0,26.11,25.46,24.93,10.18,52.87
$STATE,1125,end climb,SURFACE_DEPTH_REACHED
$STATE,1125,begin surface coast
$FINISH,0.1,1.023652
$STATE,1148,end surface coast,CONTROL_FINISHED_OK
$STATE,1148,begin surface
$SM_CCo,1251,0.00,0.000,0,0,1817,573.54
$SM_GC,0.81,28.17,0.45,0.00,0.020,0.040,0.000,230,1950,1817,-6.59,1.50,573.54,0,0,0,0,0,0,25.98,26.07,26.07
$IRIDIUM_FIX,6149.06,-17422.35,210817,155626
$TT8_MAMPS,0.025466,0.244174
$HUMID,52.87
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.85,41.272
$10V_AH,10.14,41.374
$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,46.550,10.025,63.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,422.756,60.175,130.862,610.579,93.095,0.000,348.832,0.000,357.354,0.000,0.543,0.000
$DEVICE_MAMPS,78.030,1247.715,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.866,399.432,316.130,468.635,609.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,14271,147
$CAP_FILE_SIZE,27849,0
$CFSIZE,1024409600,947847168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,170602,6137.649,-17353.432,4,0.8,17,7.0,0.3,2.2,11,4.9