version: 66.13
glider: 401
mission: 22
dive: 1122
start: 8 15 117 23 35 44
data:
$ID,401
$MISSION,22
$DIVE,1122
$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,59
$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
$GPS1,150817,225010,6153.3364,-17406.1621,7,0.9,16,6.9,0.0,319.5,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-4.0
$GPS2,150817,225010,6153.3364,-17406.1621,7,0.9,16,6.9,0.0,319.5,9,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$TGT_LATLONG,6156.580,-17421.840
$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,286.8,14919,-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,9,-1.78,-487.5,2400,1987,2347,4092,0.0,0.0,0,21,6.47,0.00,-2.67,0.000,20482,0.026,0.000,1776,1988,2630,2630,4094,0,0,0,0,0,0,26.06,28.83,26.12,10.29,54.88
$GC,25,-1.78,-487.5,1775,1988,2629,4094,0.0,0.0,1,35,0.00,0.98,-4.10,0.000,16644,0.000,1.270,1776,2353,3054,3054,4094,0,0,0,0,0,0,26.30,24.69,26.31,10.36,54.48
$GC,211,-1.78,-487.5,1775,2353,3058,4094,20.9,-13.4,28,221,0.00,1.00,0.00,0.000,1030,0.000,0.031,1776,1954,3058,3058,4095,0,0,0,0,0,0,26.13,26.13,26.20,10.46,53.46
$GC,259,-1.78,-487.5,1775,1954,3059,4095,26.5,-10.5,34,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1954,3059,3059,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.42,53.54
$GC,305,-1.78,-487.5,1775,1954,3060,4095,30.9,-9.5,40,314,0.00,1.08,0.00,0.000,516,0.000,0.054,1776,1526,3060,3060,4095,0,0,0,0,0,0,26.44,26.13,26.44,10.39,51.96
$GC,430,-1.78,-487.5,1775,1526,3062,4095,44.4,-10.7,58,439,0.00,0.93,0.00,0.000,1030,0.000,0.025,1777,1935,3063,3063,4094,0,0,0,0,0,0,26.30,26.31,26.31,10.36,48.97
$GC,477,-1.78,-487.5,1775,1935,3063,4094,49.0,-9.8,64,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1935,3063,3063,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.35,48.93
$GC,523,-1.78,-487.5,1775,1935,3064,4094,54.0,-11.2,70,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1935,3064,3064,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.34,48.22
$GC,568,-1.78,-487.5,1775,1935,3065,4095,58.8,-11.0,76,578,0.00,1.08,0.00,0.000,516,0.000,0.051,1776,1521,3065,3065,4095,0,0,0,0,0,0,26.55,26.24,26.57,10.33,48.11
$STATE,586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,586,begin apogee
$GC,595,-0.45,0.0,1775,2120,3066,4094,61.1,-10.9,78,631,4.40,0.00,28.20,1.315,10244,0.056,0.000,2185,2120,2484,2484,4094,0,0,0,0,0,0,26.26,25.36,24.29,10.33,47.63
$STATE,632,end apogee,CONTROL_FINISHED_OK
$STATE,632,begin climb
$GC,636,1.78,487.5,2185,2120,2484,4094,63.6,0.0,82,681,7.53,1.20,27.98,1.284,10500,0.033,0.053,2891,2568,1918,1918,4095,0,0,0,0,0,0,25.54,25.48,23.92,10.20,46.88
$GC,731,1.78,487.5,2890,2567,1916,4095,56.4,10.9,94,741,0.00,1.10,0.00,0.000,1030,0.000,0.028,2891,2134,1916,1916,4094,0,0,0,0,0,0,25.47,25.44,25.48,10.08,46.06
$GC,780,1.78,491.4,2890,2133,1915,4094,51.2,10.5,100,789,0.00,1.08,0.70,0.003,8708,0.000,0.045,2891,1720,1915,1915,4095,0,0,0,0,0,0,25.82,25.53,25.82,10.07,46.57
$GC,933,1.78,491.4,2890,1720,1911,4095,34.9,10.8,122,942,0.00,0.90,0.00,0.000,1030,0.000,0.028,2891,2096,1911,1911,4094,0,0,0,0,0,0,25.90,25.87,25.92,10.05,47.20
$GC,980,1.82,513.8,2890,2095,1910,4094,29.9,10.2,128,989,0.00,0.00,3.12,0.391,8198,0.000,0.000,2891,2096,1883,1883,4094,0,0,0,0,0,0,26.17,25.41,24.77,10.05,47.87
$GC,1029,1.86,545.1,2890,2095,1883,4094,25.2,10.1,134,1039,0.22,0.98,3.47,0.433,10756,0.051,0.045,2921,1716,1847,1847,4094,0,0,0,0,0,0,25.97,25.45,24.84,10.05,47.91
$GC,1103,2.16,743.7,2921,1715,1846,4094,18.4,7.6,144,1122,0.90,0.82,11.80,0.754,11270,0.027,0.027,3013,2073,1616,1616,4094,0,0,0,0,0,0,26.01,26.02,24.83,10.10,49.52
$GC,1162,2.26,811.5,3012,2072,1615,4094,13.3,9.5,151,1172,0.30,0.00,5.25,0.532,10246,0.042,0.000,3046,2073,1537,1537,4094,0,0,0,0,0,0,25.91,25.63,24.88,10.08,51.29
$GC,1210,2.26,811.5,3046,2072,1536,4094,8.2,10.5,157,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2073,1535,1535,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.08,52.44
$GC,1258,2.26,811.5,3046,2072,1533,4094,3.1,10.9,163,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2073,1534,1534,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.08,52.44
$STATE,1274,end climb,SURFACE_DEPTH_REACHED
$STATE,1274,begin surface coast
$FINISH,0.2,1.023857
$STATE,1296,end surface coast,CONTROL_FINISHED_OK
$STATE,1296,begin surface
$SM_CCo,1399,0.00,0.000,0,0,1532,817.39
$SM_GC,0.26,29.62,0.30,0.00,0.022,0.059,0.000,231,1961,1532,-6.59,1.64,817.39,0,0,0,0,0,0,25.89,25.98,26.00
$IRIDIUM_FIX,6149.06,-17422.35,150817,213423
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.91
$INTERNAL_PRESSURE,10.0528
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.92,31.315
$10V_AH,10.14,33.348
$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,49.450,13.500,80.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,469.609,60.178,145.398,703.396,84.979,0.000,393.817,0.000,407.872,0.000,0.540,0.000
$DEVICE_MAMPS,55.845,1269.900,1315.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.666,456.396,361.221,535.787,701.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330840
$DATA_FILE_SIZE,17814,168
$CAP_FILE_SIZE,31689,0
$CFSIZE,1024409600,964345856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,000020,6154.089,-17406.400,4,0.9,38,6.9,0.2,91.2,10,4.8