version: 66.13
glider: 401
mission: 22
dive: 1407
start: 8 20 117 19 59 24
data:
$ID,401
$MISSION,22
$DIVE,1407
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,200817,191654,6146.0410,-17355.7129,7,0.9,21,7.0,0.2,104.9,9,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-2.1
$GPS2,200817,191654,6146.0410,-17355.7129,7,0.9,21,7.0,0.2,104.9,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,158.5,40899,-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,10,-1.78,-487.5,2402,1948,2347,4092,0.0,0.0,0,18,6.00,0.00,0.00,0.000,4097,0.026,0.000,1822,1948,2347,2347,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.31,53.22
$GC,22,-1.78,-487.5,1822,1948,2347,4094,0.2,0.0,1,36,0.28,1.20,-6.50,0.000,20740,0.043,1.256,1788,2377,3055,3055,4095,0,0,0,0,0,0,26.09,24.53,26.11,10.31,52.87
$GC,164,-1.78,-487.5,1788,2377,3060,4095,18.6,-17.5,23,170,0.00,1.08,0.00,0.000,1030,0.000,0.031,1789,1948,3060,3060,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.47,53.74
$GC,204,-1.78,-487.5,1787,1947,3061,4094,25.9,-15.8,29,210,0.00,1.08,0.00,0.000,516,0.000,0.054,1789,1525,3061,3061,4095,0,0,0,0,0,0,26.39,26.04,26.39,10.46,52.91
$GC,268,-1.78,-487.5,1788,1525,3062,4095,33.8,-12.2,39,274,0.00,1.00,0.00,0.000,1030,0.000,0.027,1788,1952,3062,3062,4095,0,0,0,0,0,0,26.21,26.17,26.22,10.40,52.16
$GC,308,-1.78,-487.5,1788,1951,3063,4095,38.4,-11.1,45,314,0.00,1.10,0.00,0.000,260,0.000,0.044,1789,2372,3063,3063,4095,0,0,0,0,0,0,26.45,26.11,26.46,10.38,51.33
$GC,378,-1.78,-487.5,1788,2372,3064,4095,46.6,-12.0,56,384,0.00,1.05,0.00,0.000,1030,0.000,0.031,1788,1950,3065,3065,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.36,49.33
$GC,418,-1.78,-487.5,1788,1950,3066,4095,51.5,-12.2,62,424,0.00,1.08,0.00,0.000,516,0.000,0.051,1788,1521,3066,3066,4094,0,0,0,0,0,0,26.51,26.16,26.51,10.36,49.37
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,494,-0.45,0.0,1788,2129,3067,4095,60.6,-13.1,73,530,4.28,0.00,28.08,1.304,10244,0.054,0.000,2186,2129,2484,2484,4095,0,0,0,0,0,0,26.20,25.33,24.30,10.34,48.26
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,535,1.78,487.5,2186,2129,2484,4095,63.7,0.0,79,577,7.53,0.00,27.85,1.277,11270,0.031,0.000,2892,2130,1915,1915,4094,0,0,0,0,0,0,25.59,25.75,23.88,10.21,48.07
$GC,610,1.78,487.5,2891,2129,1914,4094,57.6,12.5,91,617,0.00,1.12,0.00,0.000,516,0.000,0.045,2892,1715,1914,1914,4094,0,0,0,0,0,0,25.56,25.27,25.57,10.09,47.12
$GC,705,1.78,487.5,2891,1714,1912,4094,45.2,13.2,106,711,0.00,1.05,0.00,0.000,1030,0.000,0.028,2892,2138,1911,1911,4095,0,0,0,0,0,0,25.67,25.63,25.70,10.07,46.88
$GC,745,1.78,487.5,2892,2137,1911,4095,40.2,12.4,112,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2138,1911,1911,4095,0,0,0,0,0,0,25.98,25.99,25.99,10.07,47.51
$GC,784,1.78,487.5,2891,2137,1910,4095,35.3,12.2,118,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2138,1909,1909,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.07,47.67
$GC,823,1.78,487.5,2892,2137,1908,4094,30.5,12.5,124,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2138,1908,1908,4094,0,0,0,0,0,0,26.10,26.13,26.12,10.07,47.87
$GC,862,1.78,487.5,2891,2137,1907,4094,26.0,11.7,130,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2138,1907,1907,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.07,48.26
$GC,902,1.80,499.3,2892,2137,1907,4094,21.7,10.4,136,909,0.00,1.12,2.15,0.089,8708,0.000,0.045,2892,1711,1901,1901,4094,0,0,0,0,0,0,26.21,25.70,24.67,10.11,49.21
$GC,1009,1.94,592.3,2892,1710,1899,4094,11.8,9.2,153,1023,0.43,1.02,6.43,0.581,11270,0.032,0.030,2944,2131,1793,1793,4094,0,0,0,0,0,0,26.08,26.03,24.91,10.16,52.67
$GC,1056,1.94,592.3,2944,2131,1791,4094,6.8,11.4,160,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2131,1791,1791,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.15,53.07
$GC,1095,1.94,592.3,2944,2131,1790,4094,2.4,11.3,166,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2131,1790,1790,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.16,54.01
$STATE,1106,end climb,SURFACE_DEPTH_REACHED
$STATE,1106,begin surface coast
$FINISH,0.4,1.023917
$STATE,1120,end surface coast,CONTROL_FINISHED_OK
$STATE,1120,begin surface
$SM_CCo,1224,0.00,0.000,0,0,1789,597.59
$SM_GC,0.83,28.25,0.47,0.00,0.021,0.043,0.000,240,1933,1789,-6.55,1.18,597.59,0,0,0,0,0,0,26.09,26.08,26.13
$IRIDIUM_FIX,6149.06,-17422.35,200817,190934
$TT8_MAMPS,0.025466,0.102613
$HUMID,54.09
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.88,39.776
$10V_AH,10.39,40.147
$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,46.750,14.375,64.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.266,339.975,162.980,246.317,90.128,0.000,340.185,0.000,255.306,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1256.130,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.445,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,14276,170
$CAP_FILE_SIZE,30153,0
$CFSIZE,1024409600,950353920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200817,202047,6145.309,-17355.973,5,0.7,19,7.0,0.7,353.4,11,4.8