version: 66.13
glider: 401
mission: 22
dive: 1470
start: 8 21 117 21 38 43
data:
$ID,401
$MISSION,22
$DIVE,1470
$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,37
$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
$GPS1,210817,205722,6135.6416,-17351.8008,7,0.9,70,7.0,0.9,246.2,9,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-4.5
$GPS2,210817,205722,6135.6416,-17351.8008,7,0.9,70,7.0,0.9,246.2,9,16.7
$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,154.6,21435,-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,-487.5,2394,1951,2360,4092,0.0,0.0,0,21,6.28,0.00,-2.42,0.000,20482,0.025,0.000,1789,1951,2622,2622,4094,0,0,0,0,0,0,26.14,28.83,26.19,10.31,54.21
$GC,26,-1.78,-487.5,1788,1951,2622,4094,0.1,0.0,1,36,0.00,1.20,-3.97,0.000,16644,0.000,1.259,1788,2379,3054,3054,4095,0,0,0,0,0,0,26.39,24.53,26.39,10.37,54.01
$GC,132,-1.78,-487.5,1788,2379,3057,4095,13.3,-17.0,16,142,0.00,1.05,0.00,0.000,1030,0.000,0.031,1788,1960,3057,3057,4095,0,0,0,0,0,0,26.11,26.08,26.15,10.47,53.42
$GC,180,-1.78,-487.5,1788,1959,3058,4095,21.5,-17.2,22,189,0.00,1.10,0.00,0.000,516,0.000,0.052,1788,1526,3059,3059,4094,0,0,0,0,0,0,26.41,26.06,26.42,10.47,53.26
$GC,298,-1.78,-487.5,1788,1525,3061,4094,37.8,-13.0,39,308,0.00,1.00,0.00,0.000,1030,0.000,0.028,1788,1955,3062,3062,4095,0,0,0,0,0,0,26.25,26.22,26.26,10.39,52.20
$GC,346,-1.78,-487.5,1788,1954,3063,4095,43.7,-12.3,45,356,0.00,1.10,0.00,0.000,260,0.000,0.045,1788,2374,3063,3063,4094,0,0,0,0,0,0,26.50,26.17,26.51,10.38,50.98
$GC,454,-1.78,-487.5,1787,2374,3066,4094,56.8,-12.6,60,462,0.00,1.02,0.00,0.000,1030,0.000,0.031,1788,1963,3066,3066,4095,0,0,0,0,0,0,26.28,26.25,26.34,10.35,49.05
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,486,-0.45,0.0,1788,2145,3066,4094,60.4,-12.7,63,522,4.28,0.00,28.17,1.308,10244,0.054,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.21,25.34,24.30,10.35,48.30
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,527,1.78,487.5,2185,2145,2484,4094,63.7,0.0,67,572,7.53,1.10,27.77,1.281,10500,0.030,0.052,2892,2554,1920,1920,4094,0,0,0,0,0,0,25.53,25.48,23.88,10.23,47.32
$GC,585,1.85,534.7,2891,2553,1920,4094,60.2,9.8,73,596,0.15,1.08,4.70,0.778,11270,0.042,0.026,2913,2130,1860,1860,4094,0,0,0,0,0,0,25.22,25.27,24.00,10.10,46.61
$GC,635,1.85,534.7,2912,2130,1859,4094,53.7,13.8,79,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2130,1859,1859,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.08,45.70
$GC,683,1.85,534.7,2912,2130,1858,4094,46.9,14.0,85,693,0.00,1.08,0.00,0.000,516,0.000,0.046,2913,1720,1857,1857,4095,0,0,0,0,0,0,25.82,25.51,25.83,10.07,46.22
$GC,737,1.85,534.7,2913,1719,1856,4095,39.4,13.3,92,746,0.00,1.00,0.00,0.000,1030,0.000,0.030,2913,2125,1856,1856,4094,0,0,0,0,0,0,25.71,25.69,25.74,10.06,46.41
$GC,784,1.85,534.7,2912,2124,1854,4094,33.4,13.0,98,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2125,1854,1854,4095,0,0,0,0,0,0,26.04,26.06,26.06,10.07,47.12
$GC,831,1.85,534.7,2913,2124,1853,4095,27.4,12.6,104,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2125,1853,1853,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.08,47.12
$GC,879,1.89,561.9,2912,2124,1851,4094,22.2,10.1,110,889,0.00,1.08,3.05,0.339,8708,0.000,0.043,2913,1716,1826,1826,4094,0,0,0,0,0,0,26.17,25.28,24.65,10.12,48.42
$GC,994,1.92,584.9,2912,1716,1823,4094,10.4,10.2,126,1005,0.17,1.02,2.78,0.240,11270,0.036,0.029,2937,2137,1803,1803,4094,0,0,0,0,0,0,26.02,25.99,24.83,10.16,52.00
$GC,1044,1.92,584.9,2936,2136,1801,4094,4.5,12.2,132,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2136,1801,1801,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.17,52.28
$STATE,1061,end climb,SURFACE_DEPTH_REACHED
$STATE,1061,begin surface coast
$FINISH,0.4,1.023999
$STATE,1076,end surface coast,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$SM_CCo,1179,0.00,0.000,0,0,1800,588.14
$SM_GC,1.14,28.17,0.47,0.00,0.021,0.044,0.000,237,1949,1800,-6.55,1.50,588.14,0,0,0,0,0,0,26.13,26.06,26.15
$IRIDIUM_FIX,6149.06,-17422.35,210817,193859
$TT8_MAMPS,0.025466,0.24717
$HUMID,52.71
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.90
$XPDR_PINGS,0
$24V_AH,23.88,41.622
$10V_AH,10.12,41.659
$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,46.575,14.200,66.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,396.914,59.996,130.413,567.986,89.851,0.000,344.868,0.000,332.644,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1259.190,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.151,369.582,292.439,433.621,566.116,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,14254,136
$CAP_FILE_SIZE,28084,0
$CFSIZE,1024409600,947257344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210817,215919,6134.955,-17351.943,4,0.8,16,7.0,0.5,245.7,10,5.0