version: 66.13
glider: 401
mission: 22
dive: 1509
start: 8 22 117 13 13 21
data:
$ID,401
$MISSION,22
$DIVE,1509
$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,27
$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
$GPS1,220817,123234,6129.1987,-17350.3125,7,1.0,36,7.0,0.7,229.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.3
$GPS2,220817,123234,6129.1987,-17350.3125,7,1.0,36,7.0,0.7,229.2,10,4.8
$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,140.0,10019,-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,-487.5,2391,1951,2362,4092,0.0,0.0,0,18,5.72,0.00,0.00,0.000,4097,0.024,0.000,1834,1951,2362,2362,4095,0,0,0,0,0,0,26.32,28.83,28.83,10.31,53.15
$GC,22,-1.78,-487.5,1833,1951,2362,4095,0.1,0.0,1,36,0.40,1.15,-6.47,0.000,20996,0.038,1.263,1789,1524,3055,3055,4094,0,0,0,0,0,0,26.07,24.47,26.10,10.31,52.91
$GC,179,-1.78,-487.5,1788,1524,3059,4094,22.2,-15.0,26,186,0.00,1.02,0.00,0.000,1030,0.000,0.028,1788,1954,3059,3059,4095,0,0,0,0,0,0,26.14,26.10,26.15,10.45,53.58
$GC,219,-1.78,-487.5,1788,1954,3060,4095,27.7,-13.2,32,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1954,3060,3060,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.43,52.04
$GC,259,-1.78,-487.5,1788,1954,3061,4095,32.8,-12.8,38,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1954,3062,3062,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.40,51.61
$GC,298,-1.78,-487.5,1788,1954,3062,4095,37.9,-12.7,44,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1954,3062,3062,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.39,50.59
$GC,337,-1.78,-487.5,1788,1954,3063,4094,43.0,-13.2,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1955,3063,3063,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.38,49.72
$GC,377,-1.78,-487.5,1788,1955,3064,4095,48.0,-12.6,56,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1956,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.36,49.25
$GC,416,-1.78,-487.5,1788,1955,3065,4094,53.0,-13.1,62,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1956,3065,3065,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.35,49.01
$GC,456,-1.78,-487.5,1788,1955,3066,4095,58.1,-12.7,68,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1955,3066,3066,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.35,48.22
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,476,-0.45,0.0,1788,2145,3066,4094,60.0,-13.5,70,512,4.28,0.00,28.20,1.307,10244,0.053,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.17,25.31,24.27,10.34,48.14
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,517,1.78,487.5,2184,2145,2483,4094,63.0,0.0,76,559,7.55,0.00,28.02,1.279,11270,0.031,0.000,2892,2145,1916,1916,4094,0,0,0,0,0,0,25.58,25.73,23.87,10.22,47.24
$GC,592,1.78,487.5,2891,2145,1915,4094,56.9,12.9,88,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2145,1915,1915,4094,0,0,0,0,0,0,25.53,25.55,25.55,10.08,46.37
$GC,632,1.78,487.5,2892,2145,1914,4094,51.6,13.4,94,639,0.00,1.17,0.00,0.000,516,0.000,0.045,2893,1712,1914,1914,4095,0,0,0,0,0,0,25.71,25.40,25.72,10.08,46.57
$GC,762,1.78,487.5,2892,1711,1910,4095,34.2,12.7,115,769,0.00,1.02,0.00,0.000,1030,0.000,0.030,2893,2125,1910,1910,4094,0,0,0,0,0,0,25.79,25.76,25.81,10.07,47.32
$GC,803,1.78,487.5,2892,2124,1909,4094,29.3,12.5,121,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1908,1908,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.07,47.59
$GC,842,1.78,487.5,2892,2125,1908,4095,24.4,12.3,127,849,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1711,1907,1907,4094,0,0,0,0,0,0,26.15,25.80,26.16,10.09,48.66
$GC,912,1.78,487.5,2892,1711,1905,4094,16.1,11.1,138,919,0.00,1.00,0.00,0.000,1030,0.000,0.031,2893,2118,1905,1905,4095,0,0,0,0,0,0,25.98,25.94,26.00,10.13,50.59
$GC,952,1.78,487.5,2892,2118,1905,4095,11.7,10.9,144,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2118,1905,1905,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.15,51.69
$GC,992,1.82,512.5,2892,2118,1903,4094,7.7,10.2,150,1000,0.00,1.08,2.67,0.219,8708,0.000,0.046,2892,1710,1885,1885,4094,0,0,0,0,0,0,26.30,25.75,24.82,10.17,52.32
$STATE,1047,end climb,SURFACE_DEPTH_REACHED
$STATE,1047,begin surface coast
$FINISH,0.2,1.002771
$STATE,1066,end surface coast,CONTROL_FINISHED_OK
$STATE,1067,begin surface
$SM_CCo,1170,0.00,0.000,0,0,1883,516.88
$SM_GC,1.19,27.73,0.60,0.00,0.020,0.035,0.000,237,1980,1883,-6.55,-1.32,516.88,0,0,0,0,0,0,26.14,26.13,26.17
$IRIDIUM_FIX,6149.06,-17422.35,220817,111538
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.74
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.87,42.716
$10V_AH,10.36,42.565
$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,45.675,9.100,58.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.120,321.825,156.105,235.082,95.157,0.000,327.323,0.000,244.129,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1263.015,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10745,162
$CAP_FILE_SIZE,28241,0
$CFSIZE,1024409600,945340416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,133350,6128.552,-17350.555,8,0.8,18,7.0,0.5,265.6,10,5.0