version: 66.13
glider: 401
mission: 22
dive: 1530
start: 8 22 117 21 50 21
data:
$ID,401
$MISSION,22
$DIVE,1530
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,220817,210733,6126.0029,-17349.4375,3,0.8,16,7.0,0.0,0.0,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.3
$GPS2,220817,210733,6126.0029,-17349.4375,3,0.8,16,7.0,0.0,0.0,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,173.4,40825,-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,6,begin dive
$GC,10,-1.78,-487.5,2394,1981,2357,4092,0.0,0.0,0,21,6.43,0.00,-1.98,0.000,20482,0.024,0.000,1774,1981,2571,2571,4095,0,0,0,0,0,0,26.02,28.83,26.08,10.31,53.78
$GC,26,-1.78,-487.5,1774,1981,2571,4095,0.1,0.0,1,35,0.00,1.08,-4.28,0.000,16644,0.000,1.248,1774,2358,3056,3056,4095,0,0,0,0,0,0,26.29,24.43,26.29,10.36,54.09
$GC,107,-1.78,-487.5,1773,2358,3059,4095,10.8,-17.1,12,117,0.00,1.02,0.00,0.000,1030,0.000,0.032,1774,1952,3059,3059,4094,0,0,0,0,0,0,26.03,25.98,26.06,10.47,53.66
$GC,156,-1.78,-487.5,1773,1951,3060,4094,19.1,-17.0,18,166,0.00,1.10,0.00,0.000,516,0.000,0.052,1774,1520,3061,3061,4094,0,0,0,0,0,0,26.34,25.98,26.35,10.46,53.42
$GC,223,-1.78,-487.5,1773,1520,3062,4094,29.8,-14.2,27,233,0.00,1.00,0.00,0.000,1030,0.000,0.028,1774,1943,3062,3062,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.42,52.71
$GC,271,-1.78,-487.5,1773,1942,3063,4094,35.9,-12.1,33,281,0.00,1.12,0.00,0.000,260,0.000,0.045,1774,2371,3064,3064,4094,0,0,0,0,0,0,26.42,26.06,26.43,10.40,51.53
$GC,366,-1.78,-487.5,1773,2371,3066,4094,46.8,-12.3,46,375,0.00,1.02,0.00,0.000,1030,0.000,0.031,1774,1963,3066,3066,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.36,49.29
$GC,415,-1.78,-487.5,1773,1963,3067,4094,52.9,-12.8,52,424,0.00,1.12,0.00,0.000,516,0.000,0.052,1774,1520,3066,3066,4094,0,0,0,0,0,0,26.49,26.13,26.51,10.35,48.58
$STATE,465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,476,-0.45,0.0,1773,2132,3068,4095,60.2,-13.3,59,519,4.43,0.00,28.40,1.313,10244,0.055,0.000,2185,2132,2484,2484,4094,0,0,0,0,0,0,26.16,25.27,24.25,10.34,48.26
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,524,1.78,487.5,2184,2132,2484,4094,63.9,0.0,64,569,7.53,0.00,27.83,1.287,11270,0.031,0.000,2893,2132,1920,1920,4094,0,0,0,0,0,0,25.59,25.76,23.85,10.21,47.48
$GC,608,1.78,487.5,2892,2132,1919,4094,57.7,12.4,74,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1919,1919,4094,0,0,0,0,0,0,25.58,25.60,25.60,10.09,46.92
$GC,657,1.78,487.5,2892,2133,1918,4094,51.5,12.2,80,666,0.00,1.12,0.00,0.000,516,0.000,0.046,2893,1712,1917,1917,4094,0,0,0,0,0,0,25.77,25.48,25.78,10.08,46.33
$GC,730,1.78,487.5,2893,1711,1916,4094,41.9,12.7,90,740,0.00,1.05,0.00,0.000,1030,0.000,0.030,2893,2134,1914,1914,4094,0,0,0,0,0,0,25.70,25.65,25.74,10.07,46.49
$GC,778,1.78,487.5,2892,2133,1914,4094,35.6,13.5,96,786,0.00,1.17,0.00,0.000,260,0.000,0.055,2893,2565,1914,1914,4095,0,0,0,0,0,0,26.04,25.66,26.06,10.07,46.85
$GC,837,1.78,487.5,2893,2564,1912,4095,27.7,12.7,104,847,0.00,1.08,0.00,0.000,1030,0.000,0.027,2894,2134,1912,1912,4094,0,0,0,0,0,0,25.90,25.86,25.91,10.08,47.67
$GC,887,1.79,494.0,2893,2133,1911,4094,22.3,10.4,110,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1911,1911,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.11,48.38
$GC,935,1.83,522.6,2893,2133,1910,4094,17.5,10.1,116,944,0.10,0.00,3.45,0.393,10246,0.078,0.000,2910,2131,1874,1874,4094,0,0,0,0,0,0,26.02,25.61,24.70,10.15,50.00
$GC,984,1.83,522.6,2909,2131,1874,4094,12.3,10.8,122,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2131,1872,1872,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,51.53
$GC,1031,1.83,522.6,2909,2131,1871,4094,7.2,10.6,128,1040,0.00,1.08,0.00,0.000,516,0.000,0.048,2910,1717,1871,1871,4094,0,0,0,0,0,0,26.30,25.94,26.32,10.17,52.04
$STATE,1081,end climb,SURFACE_DEPTH_REACHED
$STATE,1081,begin surface coast
$FINISH,0.1,1.023983
$STATE,1102,end surface coast,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$SM_CCo,1206,0.00,0.000,0,0,1869,528.90
$SM_GC,1.10,27.92,0.57,0.00,0.020,0.030,0.000,236,1966,1869,-6.55,-1.32,528.90,0,0,0,0,0,0,26.15,26.15,26.17
$IRIDIUM_FIX,6149.06,-17422.35,220817,205843
$TT8_MAMPS,0.025466,0.240429
$HUMID,53.38
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.85,43.334
$10V_AH,10.13,43.071
$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,46.400,15.675,59.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,402.539,59.964,138.708,574.498,96.501,0.000,360.606,0.000,336.224,0.000,0.541,0.000
$DEVICE_MAMPS,78.030,1247.715,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.440,374.903,296.697,439.834,572.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,14423,138
$CAP_FILE_SIZE,28287,0
$CFSIZE,1024409600,944308224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,221157,6125.188,-17349.572,3,1.0,49,7.0,0.2,223.2,8,3.2