version: 66.13
glider: 401
mission: 22
dive: 1215
start: 8 17 117 13 38 45
data:
$ID,401
$MISSION,22
$DIVE,1215
$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,49
$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
$GPS1,170817,125642,6207.4565,-17427.9316,8,0.9,16,6.8,0.0,5.2,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-1.9
$GPS2,170817,125642,6207.4565,-17427.9316,8,0.9,16,6.8,0.0,5.2,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W13N
$TGT_LATLONG,6211.700,-17441.039
$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,298.0,13784,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-1.78,-487.5,2403,1969,2345,4092,0.0,0.0,0,23,6.55,0.00,-5.30,0.000,20482,0.024,0.000,1769,1970,2895,2895,4095,0,0,0,0,0,0,26.05,28.83,26.07,10.28,53.34
$GC,27,-1.78,-487.5,1769,1970,2895,4095,0.1,-1.3,2,35,0.00,1.08,-1.52,0.000,16644,0.000,1.258,1769,2358,3057,3057,4095,0,0,0,0,0,0,26.26,24.60,26.23,10.39,53.03
$GC,140,-1.78,-487.5,1769,2358,3060,4095,16.4,-18.3,20,146,0.00,1.02,0.00,0.000,1030,0.000,0.032,1769,1950,3060,3060,4095,0,0,0,0,0,0,26.06,26.01,26.08,10.44,52.87
$GC,179,-1.78,-487.5,1768,1950,3062,4095,23.0,-15.2,26,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1951,3061,3061,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.41,52.87
$GC,218,-1.78,-487.5,1768,1950,3062,4095,27.9,-12.4,32,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1950,3062,3062,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.38,52.32
$GC,257,-1.78,-487.5,1768,1950,3063,4094,32.9,-12.5,38,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1950,3063,3063,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.37,51.26
$GC,295,-1.78,-487.5,1768,1950,3064,4095,37.9,-12.9,44,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1950,3065,3065,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.35,50.15
$GC,334,-1.78,-487.5,1768,1951,3065,4094,43.0,-13.4,50,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1950,3065,3065,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.33,50.03
$GC,373,-1.78,-487.5,1768,1950,3066,4094,48.1,-13.1,56,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1950,3066,3066,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.33,49.33
$GC,412,-1.78,-487.5,1768,1950,3067,4095,53.2,-13.2,62,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1951,3067,3067,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.32,48.93
$GC,450,-1.78,-487.5,1768,1950,3068,4094,58.3,-12.9,68,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1950,3068,3068,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.32,47.91
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,470,-0.45,0.0,1769,2123,3068,4095,60.1,-13.1,70,506,4.50,0.00,28.30,1.314,10244,0.055,0.000,2184,2123,2484,2484,4094,0,0,0,0,0,0,26.18,25.27,24.20,10.31,48.07
$STATE,507,end apogee,CONTROL_FINISHED_OK
$STATE,507,begin climb
$GC,510,1.78,487.5,2184,2124,2484,4094,62.9,0.0,76,553,7.53,1.17,27.98,1.281,10500,0.031,0.052,2892,2558,1916,1916,4094,0,0,0,0,0,0,25.48,25.42,23.80,10.19,47.16
$GC,604,1.78,487.5,2891,2557,1914,4094,54.1,13.0,91,611,0.00,1.05,0.00,0.000,1030,0.000,0.026,2892,2140,1914,1914,4094,0,0,0,0,0,0,25.41,25.40,25.44,10.06,47.20
$GC,644,1.78,487.5,2891,2140,1914,4094,49.0,12.7,97,650,0.00,1.08,0.00,0.000,516,0.000,0.047,2892,1731,1913,1913,4094,0,0,0,0,0,0,25.75,25.47,25.76,10.05,46.49
$GC,761,1.78,487.5,2891,1731,1911,4094,33.8,12.8,116,768,0.00,0.90,0.00,0.000,1030,0.000,0.029,2892,2101,1910,1910,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.04,47.36
$GC,801,1.78,487.5,2891,2100,1908,4094,28.8,12.3,122,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2101,1908,1908,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.04,47.67
$GC,840,1.78,487.5,2891,2100,1907,4094,24.2,11.8,128,847,0.00,1.00,0.00,0.000,516,0.000,0.047,2892,1724,1907,1907,4095,0,0,0,0,0,0,26.12,25.82,26.13,10.04,47.87
$GC,958,1.99,626.6,2891,1723,1905,4095,12.9,8.5,147,972,0.60,0.88,8.38,0.649,11270,0.031,0.028,2963,2092,1753,1753,4094,0,0,0,0,0,0,26.02,26.01,24.90,10.12,51.69
$GC,1006,2.01,640.3,2962,2092,1751,4094,8.2,10.3,154,1012,0.00,0.00,2.53,0.192,8198,0.000,0.000,2963,2092,1736,1736,4094,0,0,0,0,0,0,26.17,25.71,24.94,10.11,52.16
$GC,1045,2.01,640.3,2962,2091,1735,4094,3.8,11.3,160,1052,0.00,0.98,0.00,0.000,516,0.000,0.047,2962,1724,1736,1736,4095,0,0,0,0,0,0,26.21,25.91,26.22,10.11,53.07
$STATE,1063,end climb,SURFACE_DEPTH_REACHED
$STATE,1064,begin surface coast
$FINISH,0.1,1.023852
$STATE,1077,end surface coast,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$SM_CCo,1180,0.00,0.000,0,0,1734,644.81
$SM_GC,0.62,28.83,0.57,0.00,0.022,0.040,0.000,230,1952,1734,-6.59,-1.37,644.81,0,0,0,0,0,0,25.86,25.98,25.99
$IRIDIUM_FIX,6149.06,-17422.35,170817,114141
$TT8_MAMPS,0.025466,0.10486
$HUMID,54.29
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.00
$XPDR_PINGS,0
$24V_AH,23.80,34.054
$10V_AH,10.36,35.572
$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,48.000,10.700,67.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.920,324.541,166.431,239.721,79.119,0.000,343.143,0.000,248.437,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1257.660,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.218,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,10815,165
$CAP_FILE_SIZE,30040,0
$CFSIZE,1024409600,959791104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,135934,6208.048,-17428.275,4,0.7,30,6.7,0.2,249.5,11,4.8