version: 66.13
glider: 401
mission: 22
dive: 1821
start: 8 27 117 22 21 56
data:
$ID,401
$MISSION,22
$DIVE,1821
$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,600
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,23
$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
$GPS1,270817,213946,6048.9287,-17347.9492,7,0.9,19,7.0,0.0,42.5,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-3.8
$GPS2,270817,213946,6048.9287,-17347.9492,7,0.9,19,7.0,0.0,42.5,9,4.9
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W19S
$TGT_LATLONG,6025.500,-17335.520
$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,158.3,44853,-10.3,-10.526,-13.92,8308
$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,11,-1.82,-585.0,2385,1969,2375,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.023,0.000,1826,1969,2375,2375,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.35,52.36
$GC,24,-1.82,-585.0,1826,1969,2375,4094,0.1,0.0,1,38,0.43,1.23,-7.38,0.000,20996,0.042,1.251,1779,1526,3170,3170,4095,0,0,0,0,0,0,26.08,24.32,26.12,10.35,52.48
$GC,224,-1.82,-585.0,1778,1526,3175,4095,26.4,-13.4,33,231,0.00,1.02,0.00,0.000,1030,0.000,0.027,1780,1958,3177,3177,4095,0,0,0,0,0,0,26.21,26.15,26.22,10.52,52.00
$GC,265,-1.82,-585.0,1778,1958,3177,4095,31.5,-11.9,39,271,0.00,1.10,0.00,0.000,260,0.000,0.045,1779,2378,3177,3177,4095,0,0,0,0,0,0,26.48,26.08,26.50,10.49,51.89
$GC,324,-1.82,-585.0,1778,2378,3178,4095,38.3,-11.5,48,330,0.00,1.05,0.00,0.000,1030,0.000,0.029,1779,1955,3178,3178,4095,0,0,0,0,0,0,26.21,26.18,26.24,10.47,51.33
$GC,365,-1.82,-585.0,1778,1956,3177,4095,43.1,-11.7,54,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1956,3179,3179,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.45,50.23
$GC,405,-1.82,-585.0,1778,1955,3180,4095,47.6,-11.5,60,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1956,3180,3180,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.43,49.68
$GC,445,-1.82,-585.0,1778,1955,3181,4095,52.5,-11.9,66,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1956,3180,3180,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.42,49.05
$GC,485,-1.82,-585.0,1778,1955,3181,4095,57.5,-12.2,72,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1955,3181,3181,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.42,49.17
$STATE,502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,502,begin apogee
$GC,513,-0.45,0.0,1779,2148,3182,4095,60.1,-12.2,75,555,4.32,0.00,33.30,1.310,10244,0.050,0.000,2185,2148,2484,2484,4094,0,0,0,0,0,0,26.19,25.23,24.20,10.41,48.46
$STATE,556,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,561,1.82,585.0,2185,2148,2484,4094,63.0,0.0,82,608,7.60,0.00,33.22,1.270,11270,0.030,0.000,2902,2148,1802,1802,4094,0,0,0,0,0,0,25.52,25.69,23.78,10.27,48.07
$GC,643,1.82,585.0,2901,2148,1800,4094,55.9,13.3,95,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2148,1800,1800,4094,0,0,0,0,0,0,25.49,25.51,25.50,10.12,46.53
$GC,683,1.82,585.0,2901,2147,1799,4094,50.2,13.7,101,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2148,1799,1799,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.11,46.65
$GC,723,1.82,585.0,2901,2147,1798,4094,44.7,13.6,107,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2148,1797,1797,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.10,46.85
$GC,763,1.82,585.0,2901,2147,1796,4094,39.0,13.8,113,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2148,1796,1796,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.10,47.28
$GC,803,1.82,585.0,2901,2147,1795,4094,33.9,12.7,119,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2148,1795,1795,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.11,47.75
$GC,843,1.82,585.0,2901,2147,1794,4094,28.6,13.0,125,850,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1713,1794,1794,4094,0,0,0,0,0,0,26.10,25.71,26.10,10.12,48.22
$GC,944,1.82,585.0,2901,1713,1792,4094,16.6,11.5,141,950,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2126,1791,1791,4095,0,0,0,0,0,0,25.97,25.94,25.99,10.16,51.02
$GC,985,1.82,585.0,2901,2126,1789,4095,11.8,11.8,147,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1790,1790,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,52.71
$GC,1025,1.82,585.0,2901,2126,1788,4094,7.2,10.8,153,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1788,1788,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.19,52.40
$GC,1065,1.82,585.0,2901,2126,1787,4094,2.7,11.2,159,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1787,1787,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.19,52.55
$STATE,1075,end climb,SURFACE_DEPTH_REACHED
$STATE,1075,begin surface coast
$FINISH,0.0,1.002505
$STATE,1089,end surface coast,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$SM_CCo,1195,0.00,0.000,0,0,1785,600.16
$SM_GC,0.79,27.73,0.45,0.00,0.019,0.043,0.000,230,1947,1785,-6.59,1.14,600.16,0,0,0,0,0,0,25.96,26.05,26.06
$IRIDIUM_FIX,5952.82,-17420.78,270817,202114
$TT8_MAMPS,0.025466,0.105609
$HUMID,52.95
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.78,52.241
$10V_AH,10.37,50.033
$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,45.725,7.875,66.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,425.834,316.772,167.642,236.931,116.750,0.000,344.199,0.000,245.577,0.000,0.542,0.000
$DEVICE_MAMPS,49.725,1250.775,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10800,163
$CAP_FILE_SIZE,28528,0
$CFSIZE,1024409600,930004992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,224251,6048.707,-17347.000,5,0.8,18,7.0,0.3,99.3,11,4.9