version: 66.13
glider: 401
mission: 22
dive: 1224
start: 8 17 117 17 18 57
data:
$ID,401
$MISSION,22
$DIVE,1224
$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,29
$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
$GPS1,170817,163714,6207.8535,-17428.4277,8,1.0,15,6.7,0.0,233.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-2.0
$GPS2,170817,163714,6207.8535,-17428.4277,8,1.0,15,6.7,0.0,233.1,9,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$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,157.9,21653,-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,-487.5,2405,1967,2348,4092,0.0,0.0,0,20,6.50,0.00,-2.15,0.000,20482,0.021,0.000,1773,1968,2622,2622,4094,0,0,0,0,0,0,26.11,28.83,26.16,10.27,53.62
$GC,24,-1.78,-487.5,1773,1967,2623,4094,1.0,0.0,1,34,0.00,1.12,-3.08,0.000,16644,0.000,1.272,1773,2375,3058,3058,4095,0,0,0,0,0,0,26.33,24.65,26.34,10.34,53.46
$GC,97,-1.78,-487.5,1773,2375,3060,4095,11.5,-18.5,11,107,0.00,1.08,0.00,0.000,1030,0.000,0.032,1773,1947,3060,3060,4095,0,0,0,0,0,0,26.06,26.03,26.09,10.43,54.09
$GC,144,-1.78,-487.5,1772,1947,3061,4095,19.5,-16.8,17,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1947,3062,3062,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.43,53.97
$GC,191,-1.78,-487.5,1772,1947,3062,4094,25.4,-13.2,23,201,0.00,1.08,0.00,0.000,516,0.000,0.052,1773,1524,3063,3063,4095,0,0,0,0,0,0,26.37,26.09,26.39,10.38,52.40
$GC,245,-1.78,-487.5,1773,1524,3064,4095,32.8,-13.4,30,254,0.00,1.10,0.00,0.000,1030,0.000,0.028,1773,1980,3064,3064,4095,0,0,0,0,0,0,26.20,26.17,26.21,10.36,51.37
$GC,291,-1.78,-487.5,1772,1980,3065,4095,38.4,-12.0,36,301,0.00,1.05,0.00,0.000,260,0.000,0.048,1773,2379,3065,3065,4095,0,0,0,0,0,0,26.44,26.12,26.44,10.34,50.51
$GC,357,-1.78,-487.5,1772,2379,3066,4095,46.6,-11.8,45,367,0.00,0.95,0.00,0.000,1030,0.000,0.030,1773,2000,3067,3067,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.32,48.81
$GC,404,-1.78,-487.5,1772,2000,3068,4095,52.4,-12.8,51,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,2000,3068,3068,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.31,49.33
$GC,452,-1.78,-487.5,1772,2000,3069,4095,58.4,-13.3,57,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,2000,3069,3069,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.31,48.97
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,477,-0.45,0.0,1773,2153,3069,4095,61.2,-13.0,59,513,4.45,0.00,28.48,1.324,10244,0.057,0.000,2185,2153,2484,2484,4095,0,0,0,0,0,0,26.20,25.29,24.23,10.31,48.42
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,518,1.78,487.5,2185,2153,2484,4095,64.2,0.0,63,563,7.57,0.00,28.02,1.297,11270,0.032,0.000,2891,2152,1916,1916,4094,0,0,0,0,0,0,25.56,25.72,23.81,10.17,47.04
$GC,602,1.78,487.5,2890,2153,1915,4094,57.7,12.3,73,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2153,1915,1915,4094,0,0,0,0,0,0,25.58,25.59,25.58,10.05,46.29
$GC,650,1.78,487.5,2890,2153,1913,4094,51.4,12.9,79,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2153,1913,1913,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.04,46.18
$GC,697,1.78,487.5,2890,2153,1912,4094,45.1,12.8,85,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2153,1911,1911,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.04,46.37
$GC,745,1.78,487.5,2890,2153,1911,4094,38.9,13.2,91,754,0.00,1.15,0.00,0.000,516,0.000,0.046,2891,1717,1911,1911,4094,0,0,0,0,0,0,25.97,25.67,25.98,10.03,46.65
$GC,837,1.78,487.5,2891,1717,1908,4094,26.8,12.3,104,847,0.00,1.00,0.00,0.000,1030,0.000,0.029,2891,2123,1907,1907,4095,0,0,0,0,0,0,25.89,25.86,25.91,10.03,47.63
$GC,886,1.78,487.5,2890,2124,1907,4095,21.5,11.4,110,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1906,1906,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.03,48.11
$GC,933,1.90,571.3,2890,2124,1905,4094,16.6,9.3,116,945,0.35,1.10,5.75,0.594,10756,0.041,0.047,2932,1709,1816,1816,4094,0,0,0,0,0,0,26.00,25.75,24.87,10.09,49.13
$GC,1063,1.95,602.5,2932,1709,1814,4094,4.6,10.1,134,1074,0.00,1.00,3.33,0.315,9222,0.000,0.028,2932,2131,1780,1780,4095,0,0,0,0,0,0,26.07,26.03,25.07,10.12,52.28
$STATE,1088,end climb,SURFACE_DEPTH_REACHED
$STATE,1088,begin surface coast
$FINISH,0.0,1.001869
$STATE,1111,end surface coast,CONTROL_FINISHED_OK
$STATE,1111,begin surface
$SM_CCo,1213,0.00,0.000,0,0,1778,607.03
$SM_GC,1.11,28.27,0.47,0.00,0.021,0.047,0.000,238,1950,1778,-6.55,1.28,607.03,0,0,0,0,0,0,26.09,26.03,26.12
$IRIDIUM_FIX,6149.06,-17422.35,170817,151632
$TT8_MAMPS,0.025466,0.246421
$HUMID,53.22
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,1.80
$XPDR_PINGS,0
$24V_AH,23.81,34.327
$10V_AH,10.13,35.796
$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,47.150,11.850,65.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,407.142,60.028,139.110,585.552,86.436,0.000,367.115,0.000,340.914,0.000,0.540,0.000
$DEVICE_MAMPS,57.375,1272.195,1324.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.043,380.421,301.051,446.520,582.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330856
$DATA_FILE_SIZE,14319,140
$CAP_FILE_SIZE,28739,0
$CFSIZE,1024409600,959348736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,174006,6207.109,-17428.459,4,0.8,17,6.7,0.0,256.3,10,5.0