version: 66.13
glider: 401
mission: 22
dive: 1515
start: 8 22 117 15 34 46
data:
$ID,401
$MISSION,22
$DIVE,1515
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,220817,145346,6128.1353,-17350.8496,10,0.7,14,7.0,0.0,243.3,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.1
$GPS2,220817,145346,6128.1353,-17350.8496,10,0.7,14,7.0,0.0,243.3,11,4.5
$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,130.4,8750,-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,-487.5,2388,1959,2367,4092,0.0,0.0,0,18,6.22,0.00,0.00,0.000,4097,0.023,0.000,1784,1959,2367,2367,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.29,53.22
$GC,22,-1.78,-487.5,1784,1958,2367,4094,0.1,0.0,1,35,0.00,1.17,-6.45,0.000,16644,0.000,1.252,1784,2381,3055,3055,4094,0,0,0,0,0,0,26.29,24.46,26.31,10.30,53.11
$GC,135,-1.78,-487.5,1783,2381,3057,4094,14.3,-17.5,19,141,0.00,1.08,0.00,0.000,1030,0.000,0.031,1784,1957,3058,3058,4095,0,0,0,0,0,0,26.06,26.01,26.07,10.45,52.87
$GC,175,-1.78,-487.5,1783,1957,3059,4095,20.6,-15.0,25,182,0.00,1.12,0.00,0.000,516,0.000,0.053,1784,1519,3059,3059,4094,0,0,0,0,0,0,26.34,25.98,26.36,10.44,53.11
$GC,215,-1.78,-487.5,1783,1518,3060,4094,25.9,-13.1,31,222,0.00,1.02,0.00,0.000,1030,0.000,0.027,1784,1958,3060,3060,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.41,52.63
$GC,256,-1.78,-487.5,1783,1957,3061,4094,29.9,-9.9,37,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1957,3061,3061,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.40,52.44
$GC,295,-1.78,-487.5,1783,1957,3062,4095,34.7,-12.7,43,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1956,3062,3062,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.38,51.10
$GC,335,-1.78,-487.5,1783,1957,3062,4095,39.7,-12.3,49,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1957,3063,3063,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.37,50.31
$GC,374,-1.78,-487.5,1783,1958,3063,4095,44.5,-12.6,55,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1958,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.36,49.40
$GC,413,-1.78,-487.5,1783,1958,3064,4094,49.5,-12.6,61,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1958,3064,3064,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.35,48.97
$GC,453,-1.78,-487.5,1783,1958,3066,4094,54.5,-12.7,67,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1958,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.34,49.25
$GC,492,-1.78,-487.5,1783,1958,3067,4095,59.6,-13.0,73,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1958,3067,3067,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.33,48.77
$STATE,503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,503,begin apogee
$GC,513,-0.45,0.0,1784,2133,3067,4095,61.4,-12.6,75,549,4.32,0.00,28.23,1.323,10244,0.054,0.000,2185,2133,2484,2484,4094,0,0,0,0,0,0,26.17,25.30,24.26,10.33,49.13
$STATE,550,end apogee,CONTROL_FINISHED_OK
$STATE,550,begin climb
$GC,554,1.78,487.5,2185,2132,2484,4094,64.3,0.0,81,596,7.57,0.00,27.98,1.293,11270,0.031,0.000,2892,2133,1915,1915,4094,0,0,0,0,0,0,25.58,25.73,23.86,10.20,47.59
$GC,630,1.78,487.5,2891,2133,1914,4094,58.2,12.2,93,636,0.00,1.15,0.00,0.000,516,0.000,0.046,2892,1711,1914,1914,4094,0,0,0,0,0,0,25.53,25.25,25.54,10.07,46.53
$GC,694,1.78,487.5,2892,1710,1913,4094,49.7,13.1,103,700,0.00,1.05,0.00,0.000,1030,0.000,0.030,2892,2129,1912,1912,4094,0,0,0,0,0,0,25.56,25.52,25.58,10.07,46.73
$GC,734,1.78,487.5,2892,2129,1911,4094,44.5,13.4,109,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1912,1912,4094,0,0,0,0,0,0,25.89,25.91,25.90,10.06,47.55
$GC,773,1.78,487.5,2891,2129,1910,4094,39.3,12.9,115,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1910,1910,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.05,47.24
$GC,813,1.78,487.5,2891,2129,1909,4094,34.0,13.7,121,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2129,1909,1909,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.05,47.71
$GC,852,1.78,487.5,2891,2129,1907,4094,28.9,12.8,127,859,0.00,1.12,0.00,0.000,516,0.000,0.047,2892,1707,1908,1908,4094,0,0,0,0,0,0,26.10,25.80,26.12,10.06,48.07
$GC,1092,1.80,503.1,2891,1707,1902,4094,5.6,10.3,166,1100,0.00,1.05,2.15,0.077,9222,0.000,0.030,2892,2135,1896,1896,4094,0,0,0,0,0,0,26.10,26.06,24.84,10.14,53.18
$STATE,1123,end climb,SURFACE_DEPTH_REACHED
$STATE,1123,begin surface coast
$FINISH,0.2,1.014048
$STATE,1143,end surface coast,CONTROL_FINISHED_OK
$STATE,1143,begin surface
$SM_CCo,1246,0.00,0.000,0,0,1894,507.43
$SM_GC,1.12,27.77,0.50,0.00,0.021,0.047,0.000,235,1945,1894,-6.55,1.05,507.43,0,0,0,0,0,0,26.18,26.08,26.21
$IRIDIUM_FIX,6144.84,-17201.19,220817,133704
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.33
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.86,42.880
$10V_AH,10.36,42.704
$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,45.900,10.125,58.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,456.013,344.943,160.023,252.445,99.142,0.000,340.995,0.000,261.005,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1251.540,1322.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14181,174
$CAP_FILE_SIZE,29660,0
$CFSIZE,1024409600,945045504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,155625,6127.933,-17350.523,5,0.7,13,7.0,0.0,0.0,12,4.9