version: 66.13
glider: 401
mission: 22
dive: 1815
start: 8 27 117 19 52 59
data:
$ID,401
$MISSION,22
$DIVE,1815
$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,20
$R_STBD_OVSHOOT,28
$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
$GPS1,270817,191204,6049.0854,-17349.0293,7,0.8,17,7.0,0.5,267.6,10,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.7
$GPS2,270817,191204,6049.0854,-17349.0293,7,0.8,17,7.0,0.5,267.6,10,4.9
$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,157.2,45392,-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,5,begin dive
$GC,11,-1.82,-585.0,2385,1952,2380,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,4097,0.024,0.000,1832,1952,2380,2380,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.34,52.67
$GC,24,-1.82,-585.0,1831,1952,2380,4094,0.0,0.0,1,37,0.50,1.20,-7.32,0.000,20996,0.040,1.255,1777,1511,3171,3171,4095,0,0,0,0,0,0,26.07,24.30,26.10,10.35,52.28
$GC,218,-1.82,-585.0,1776,1510,3176,4095,25.6,-14.0,32,224,0.00,1.05,0.00,0.000,1030,0.000,0.025,1776,1958,3177,3177,4095,0,0,0,0,0,0,26.19,26.16,26.20,10.51,52.40
$GC,259,-1.82,-585.0,1776,1958,3177,4095,30.6,-11.9,38,265,0.00,1.08,0.00,0.000,260,0.000,0.046,1777,2368,3178,3178,4095,0,0,0,0,0,0,26.46,26.06,26.48,10.49,52.75
$GC,330,-1.82,-585.0,1776,2368,3179,4095,38.6,-9.4,49,336,0.00,1.08,0.00,0.000,1030,0.000,0.030,1776,1936,3179,3179,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.45,51.57
$GC,371,-1.82,-585.0,1776,1936,3180,4094,43.3,-11.5,55,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1936,3180,3180,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.43,50.07
$GC,411,-1.82,-585.0,1776,1936,3180,4094,48.0,-11.6,61,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1936,3181,3181,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.42,49.72
$GC,451,-1.82,-585.0,1776,1937,3181,4094,52.8,-12.0,67,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1936,3182,3182,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.42,49.17
$GC,491,-1.82,-585.0,1776,1936,3183,4094,57.7,-12.2,73,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1936,3183,3183,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,48.81
$STATE,508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,508,begin apogee
$GC,519,-0.45,0.0,1776,2137,3183,4094,60.4,-12.3,76,561,4.38,0.00,33.45,1.307,10244,0.049,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.18,25.22,24.18,10.41,48.62
$STATE,562,end apogee,CONTROL_FINISHED_OK
$STATE,562,begin climb
$GC,567,1.82,585.0,2186,2137,2484,4094,63.4,0.0,83,614,7.60,0.00,33.15,1.274,11270,0.029,0.000,2901,2137,1803,1803,4094,0,0,0,0,0,0,25.51,25.67,23.79,10.26,47.75
$GC,649,1.82,585.0,2901,2137,1802,4094,56.1,13.6,96,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.11,47.51
$GC,689,1.82,585.0,2901,2137,1801,4094,50.5,13.7,102,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1800,1800,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.11,46.73
$GC,729,1.82,585.0,2901,2137,1799,4094,44.9,13.7,108,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2138,1799,1799,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.11,47.28
$GC,769,1.82,585.0,2901,2137,1797,4094,39.4,13.8,114,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1797,1797,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.09,47.36
$GC,809,1.82,585.0,2901,2137,1796,4094,33.9,13.1,120,815,0.00,1.12,0.00,0.000,516,0.000,0.044,2901,1715,1796,1796,4094,0,0,0,0,0,0,26.02,25.64,26.03,10.10,47.63
$GC,880,1.82,585.0,2901,1715,1794,4094,24.8,13.0,131,886,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2130,1794,1794,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.13,49.21
$GC,920,1.82,585.0,2901,2130,1793,4094,20.0,11.9,137,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1793,1793,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.15,50.66
$GC,961,1.82,585.0,2901,2130,1792,4094,15.4,11.4,143,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1792,1792,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.17,51.53
$GC,1001,1.83,594.2,2901,2130,1791,4094,11.1,10.4,149,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1790,1790,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,52.44
$GC,1041,1.83,594.2,2901,2130,1789,4094,6.4,11.1,155,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1789,1789,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.18,52.24
$GC,1081,2.07,756.5,2901,2131,1788,4094,2.7,8.5,161,1089,0.80,0.00,4.72,0.425,10242,0.026,0.000,2987,2131,1720,1720,4094,0,0,0,0,0,0,26.12,28.83,26.15,10.19,52.75
$STATE,1090,end climb,SURFACE_DEPTH_REACHED
$STATE,1090,begin surface coast
$FINISH,0.1,1.013388
$STATE,1108,end surface coast,CONTROL_FINISHED_OK
$STATE,1109,begin surface
$SM_CCo,1215,0.00,0.000,0,0,1720,656.83
$SM_GC,0.73,28.67,0.45,0.00,0.020,0.044,0.000,230,1956,1720,-6.59,1.64,656.83,0,0,0,0,0,0,25.94,26.03,26.02
$IRIDIUM_FIX,5952.82,-17420.78,270817,175447
$TT8_MAMPS,0.025466,0.107856
$HUMID,53.11
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.79,52.046
$10V_AH,10.37,49.889
$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,47.575,7.975,71.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,432.902,317.478,173.671,239.935,119.973,0.000,353.333,0.000,248.278,0.000,0.543,0.000
$DEVICE_MAMPS,48.960,1255.365,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,10869,165
$CAP_FILE_SIZE,29887,0
$CFSIZE,1024409600,930299904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,201413,6048.979,-17348.760,5,0.7,17,7.0,0.8,348.5,11,4.9