version: 66.13
glider: 401
mission: 22
dive: 1461
start: 8 21 117 17 57 45
data:
$ID,401
$MISSION,22
$DIVE,1461
$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,35
$R_STBD_OVSHOOT,21
$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
$GPS1,210817,171702,6137.6650,-17353.3379,6,0.8,41,7.0,0.4,16.5,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.9
$GPS2,210817,171702,6137.6650,-17353.3379,6,0.8,41,7.0,0.4,16.5,11,4.6
$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,154.3,25421,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.78,-487.5,2395,1941,2357,4092,0.0,0.0,0,18,5.70,0.00,0.00,0.000,4097,0.023,0.000,1835,1941,2357,2357,4095,0,0,0,0,0,0,26.32,28.83,28.83,10.32,52.67
$GC,22,-1.78,-487.5,1835,1935,2357,4095,0.2,0.0,1,36,0.43,1.25,-5.90,0.000,20740,0.037,1.253,1787,2384,3056,3056,4095,0,0,0,0,0,0,26.07,24.49,26.10,10.31,52.36
$GC,164,-1.78,-487.5,1786,2384,3060,4095,20.0,-17.0,23,171,0.00,1.08,0.00,0.000,1030,0.000,0.031,1787,1955,3060,3060,4094,0,0,0,0,0,0,26.08,26.05,26.12,10.48,53.03
$GC,204,-1.78,-487.5,1786,1955,3062,4094,27.3,-16.1,29,211,0.00,1.10,0.00,0.000,516,0.000,0.052,1786,1524,3062,3062,4095,0,0,0,0,0,0,26.37,26.02,26.39,10.46,52.67
$GC,292,-1.78,-487.5,1786,1524,3064,4095,38.7,-12.4,43,299,0.00,0.98,0.00,0.000,1030,0.000,0.026,1787,1945,3064,3064,4095,0,0,0,0,0,0,26.21,26.18,26.22,10.39,51.49
$GC,332,-1.78,-487.5,1786,1945,3064,4095,43.3,-11.1,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1945,3065,3065,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.38,50.03
$GC,372,-1.78,-487.5,1786,1945,3066,4094,47.7,-11.5,55,378,0.00,1.10,0.00,0.000,260,0.000,0.044,1786,2366,3066,3066,4094,0,0,0,0,0,0,26.48,26.14,26.48,10.37,49.52
$GC,436,-1.78,-487.5,1786,2365,3067,4094,55.3,-12.1,65,442,0.00,1.10,0.00,0.000,1030,0.000,0.031,1787,1928,3067,3067,4094,0,0,0,0,0,0,26.25,26.21,26.27,10.36,49.29
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,482,-0.45,0.0,1787,2137,3068,4095,60.4,-13.0,71,518,4.30,0.00,28.23,1.297,10244,0.054,0.000,2185,2137,2484,2484,4095,0,0,0,0,0,0,26.19,25.32,24.28,10.35,47.87
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,523,1.78,487.5,2185,2137,2483,4095,63.3,0.0,77,564,7.55,0.00,27.90,1.275,11270,0.031,0.000,2892,2137,1916,1916,4094,0,0,0,0,0,0,25.58,25.74,23.87,10.22,47.75
$GC,598,1.78,487.5,2891,2137,1915,4094,57.3,12.5,89,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2137,1915,1915,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.09,46.77
$GC,637,1.78,487.5,2892,2137,1914,4094,52.1,13.1,95,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2137,1913,1913,4095,0,0,0,0,0,0,25.72,25.74,25.74,10.08,45.90
$GC,677,1.78,487.5,2891,2137,1912,4095,46.8,13.8,101,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2138,1912,1912,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.08,46.45
$GC,716,1.78,487.5,2892,2137,1911,4094,41.4,13.5,107,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2137,1911,1911,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.07,47.20
$GC,755,1.78,487.5,2892,2137,1910,4094,35.9,13.7,113,762,0.00,1.12,0.00,0.000,516,0.000,0.046,2892,1714,1910,1910,4095,0,0,0,0,0,0,26.02,25.69,26.03,10.07,47.20
$GC,849,1.78,487.5,2892,1714,1907,4095,24.4,10.8,128,856,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2131,1907,1907,4094,0,0,0,0,0,0,25.91,25.89,25.95,10.09,48.62
$GC,890,1.96,608.5,2891,2131,1907,4094,20.8,8.7,134,903,0.52,0.00,7.62,0.689,10246,0.032,0.000,2950,2131,1774,1774,4094,0,0,0,0,0,0,25.98,25.58,24.72,10.13,49.68
$GC,936,1.96,608.5,2948,2131,1773,4094,15.8,11.1,141,943,0.00,1.12,0.00,0.000,516,0.000,0.047,2949,1709,1773,1773,4094,0,0,0,0,0,0,26.15,25.82,26.16,10.13,51.06
$GC,1000,1.96,608.5,2949,1708,1771,4094,8.4,11.5,151,1007,0.00,1.05,0.00,0.000,1030,0.000,0.029,2949,2138,1771,1771,4094,0,0,0,0,0,0,25.99,25.95,26.01,10.14,53.18
$GC,1040,1.96,608.5,2948,2137,1770,4094,3.7,12.1,157,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2138,1770,1770,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.15,53.15
$STATE,1058,end climb,SURFACE_DEPTH_REACHED
$STATE,1058,begin surface coast
$FINISH,0.2,1.023983
$STATE,1071,end surface coast,CONTROL_FINISHED_OK
$STATE,1071,begin surface
$SM_CCo,1175,0.00,0.000,0,0,1768,615.62
$SM_GC,0.99,28.42,0.50,0.00,0.020,0.041,0.000,230,1938,1768,-6.59,1.05,615.62,0,0,0,0,0,0,25.92,26.04,26.03
$IRIDIUM_FIX,6149.06,-17422.35,210817,170919
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.56
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.87,41.360
$10V_AH,10.38,41.434
$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,46.925,12.400,63.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.814,321.234,161.064,234.883,92.669,0.000,333.297,0.000,243.980,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1253.070,1296.675,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.853,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,10836,162
$CAP_FILE_SIZE,29380,0
$CFSIZE,1024409600,947699712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,181815,6137.110,-17352.631,5,0.8,15,7.0,0.7,60.2,10,4.9