version: 66.13
glider: 401
mission: 22
dive: 1505
start: 8 22 117 11 42 15
data:
$ID,401
$MISSION,22
$DIVE,1505
$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,28
$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
$GPS1,220817,112041,6130.1299,-17349.7891,11,0.9,16,7.0,0.6,238.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.5
$GPS2,220817,112041,6130.1299,-17349.7891,11,0.9,16,7.0,0.6,238.6,10,4.7
$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,146.8,11291,-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,-487.5,2394,1947,2356,4092,0.0,0.0,0,18,5.97,0.00,0.00,0.000,4097,0.024,0.000,1813,1947,2356,2356,4095,0,0,0,0,0,0,26.32,28.83,28.83,10.32,52.52
$GC,22,-1.78,-487.5,1812,1947,2356,4095,0.2,0.0,1,36,0.17,1.20,-6.53,0.000,20740,0.059,1.245,1791,2378,3056,3056,4095,0,0,0,0,0,0,26.08,24.48,26.10,10.32,52.52
$GC,197,-1.78,-487.5,1791,2378,3060,4095,23.1,-14.4,29,203,0.00,1.08,0.00,0.000,1030,0.000,0.031,1791,1949,3060,3060,4095,0,0,0,0,0,0,26.12,26.08,26.14,10.46,52.40
$GC,237,-1.78,-487.5,1790,1949,3061,4095,28.2,-12.4,35,244,0.00,1.08,0.00,0.000,516,0.000,0.052,1791,1521,3061,3061,4094,0,0,0,0,0,0,26.41,26.03,26.41,10.43,52.24
$GC,337,-1.78,-487.5,1790,1521,3064,4094,40.5,-12.8,51,344,0.00,0.98,0.00,0.000,1030,0.000,0.027,1791,1940,3064,3064,4095,0,0,0,0,0,0,26.24,26.24,26.25,10.38,50.11
$GC,377,-1.78,-487.5,1790,1940,3064,4095,45.6,-12.9,57,384,0.00,1.12,0.00,0.000,260,0.000,0.046,1791,2369,3064,3064,4094,0,0,0,0,0,0,26.48,26.13,26.49,10.38,49.17
$GC,436,-1.78,-487.5,1791,2370,3066,4094,52.8,-12.4,66,442,0.00,1.08,0.00,0.000,1030,0.000,0.032,1791,1939,3066,3066,4094,0,0,0,0,0,0,26.25,26.21,26.27,10.36,48.77
$GC,476,-1.78,-487.5,1790,1939,3067,4094,57.7,-12.1,72,482,0.00,1.05,0.00,0.000,516,0.000,0.051,1791,1523,3067,3067,4094,0,0,0,0,0,0,26.53,26.15,26.54,10.35,48.22
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,505,-0.45,0.0,1791,2126,3067,4095,60.5,-12.8,75,541,4.22,0.00,28.25,1.310,10244,0.053,0.000,2185,2127,2484,2484,4095,0,0,0,0,0,0,26.19,25.32,24.28,10.35,47.99
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,546,1.78,487.5,2185,2126,2484,4095,63.6,0.0,81,588,7.53,0.00,27.90,1.286,11270,0.031,0.000,2890,2127,1916,1916,4094,0,0,0,0,0,0,25.59,25.75,23.87,10.22,47.75
$GC,621,1.78,487.5,2890,2126,1915,4094,57.5,12.8,93,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2127,1915,1915,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.09,45.78
$GC,661,1.78,487.5,2890,2126,1914,4094,52.3,13.0,99,668,0.00,1.12,0.00,0.000,516,0.000,0.045,2891,1710,1914,1914,4094,0,0,0,0,0,0,25.72,25.41,25.73,10.09,46.25
$GC,743,1.78,487.5,2890,1709,1912,4094,41.4,13.0,112,750,0.00,1.05,0.00,0.000,1030,0.000,0.030,2891,2132,1911,1911,4094,0,0,0,0,0,0,25.71,25.67,25.73,10.07,46.57
$GC,783,1.78,487.5,2890,2132,1911,4094,36.4,12.6,118,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1911,1911,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.07,46.92
$GC,823,1.78,487.5,2889,2132,1909,4094,31.5,12.4,124,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1909,1909,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.07,47.59
$GC,862,1.78,487.5,2890,2132,1908,4094,26.6,12.1,130,869,0.00,1.10,0.00,0.000,516,0.000,0.045,2891,1717,1908,1908,4094,0,0,0,0,0,0,26.15,25.80,26.16,10.08,47.91
$GC,1020,1.91,578.7,2890,1717,1904,4094,10.3,9.2,155,1033,0.40,1.00,5.97,0.555,11270,0.032,0.028,2936,2129,1809,1809,4095,0,0,0,0,0,0,26.07,26.03,24.87,10.16,52.04
$GC,1067,1.91,578.7,2936,2128,1807,4095,4.9,11.4,162,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2129,1807,1807,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.16,52.67
$STATE,1090,end climb,FINISH_DEPTH_REACHED
$STATE,1090,begin subsurface finish
$FINISH1,1.8,1.023997,112
$GC,1101,0.17,111.7,2936,2129,1806,4095,1.8,11.6,166,1114,5.70,0.00,-4.88,0.000,20486,0.037,0.000,2395,2129,2358,2358,4094,0,0,0,0,0,0,26.06,24.67,26.11,10.16,52.99
$FINISH2,0.2
$STATE,1115,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1115,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,100220
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.85
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.87,42.610
$10V_AH,10.38,42.475
$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,24.000,13.825,62.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.997,277.577,134.290,243.323,85.364,0.000,307.195,0.000,252.625,0.000,0.542,0.000
$DEVICE_MAMPS,58.905,1245.420,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,10895,168
$CAP_FILE_SIZE,26876,0
$CFSIZE,1024409600,945537024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,112041,6130.130,-17349.789,11,0.9,16,7.0,0.6,238.6,10,4.7