version: 66.13
glider: 401
mission: 22
dive: 1520
start: 8 22 117 17 44 48
data:
$ID,401
$MISSION,22
$DIVE,1520
$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,49
$R_STBD_OVSHOOT,48
$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
$GPS1,220817,172419,6127.7695,-17350.8730,11,0.8,23,7.0,0.3,54.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.1
$GPS2,220817,172419,6127.7695,-17350.8730,11,0.8,23,7.0,0.3,54.0,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,171.7,44107,-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,-487.5,2393,1981,2365,4092,0.0,0.0,0,21,6.40,0.00,-2.20,0.000,20482,0.023,0.000,1775,1982,2600,2600,4095,0,0,0,0,0,0,26.12,28.83,26.17,10.31,53.42
$GC,26,-1.78,-487.5,1773,1983,2600,4095,0.2,0.0,1,36,0.00,1.02,-4.10,0.000,16644,0.000,1.257,1774,2360,3055,3055,4095,0,0,0,0,0,0,26.37,24.47,26.38,10.36,53.74
$GC,165,-1.78,-487.5,1773,2359,3059,4095,20.0,-16.2,21,175,0.00,0.98,0.00,0.000,1030,0.000,0.031,1773,1975,3059,3059,4095,0,0,0,0,0,0,26.14,26.11,26.17,10.44,52.91
$GC,213,-1.78,-487.5,1773,1975,3060,4095,26.7,-13.4,27,222,0.00,1.17,0.00,0.000,516,0.000,0.052,1773,1516,3060,3060,4095,0,0,0,0,0,0,26.42,26.05,26.44,10.41,52.55
$GC,280,-1.78,-487.5,1773,1516,3062,4095,36.2,-14.3,36,289,0.00,0.98,0.00,0.000,1030,0.000,0.027,1773,1935,3062,3062,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.38,50.63
$GC,328,-1.78,-487.5,1773,1935,3063,4095,42.2,-12.3,42,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1935,3063,3063,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.36,50.35
$GC,374,-1.78,-487.5,1773,1935,3064,4095,48.1,-12.9,48,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1935,3064,3064,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.36,49.05
$GC,421,-1.78,-487.5,1773,1935,3065,4095,54.2,-13.2,54,430,0.00,1.10,0.00,0.000,260,0.000,0.045,1773,2357,3065,3065,4094,0,0,0,0,0,0,26.53,26.15,26.53,10.34,48.26
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,474,-0.45,0.0,1773,2114,3066,4095,60.5,-13.3,60,509,4.45,0.00,28.25,1.320,10244,0.054,0.000,2185,2113,2484,2484,4094,0,0,0,0,0,0,26.18,25.32,24.28,10.33,47.87
$STATE,510,end apogee,CONTROL_FINISHED_OK
$STATE,510,begin climb
$GC,514,1.78,487.5,2185,2113,2484,4094,63.8,0.0,64,559,7.57,0.00,27.95,1.288,11270,0.031,0.000,2892,2114,1916,1916,4094,0,0,0,0,0,0,25.58,25.75,23.89,10.21,47.00
$GC,599,1.78,487.5,2892,2113,1915,4094,57.2,12.6,74,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1915,1915,4094,0,0,0,0,0,0,25.58,25.60,25.60,10.08,46.25
$GC,647,1.78,487.5,2892,2113,1914,4094,50.7,13.5,80,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1913,1913,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.07,46.53
$GC,695,1.78,487.5,2891,2113,1912,4094,44.2,13.1,86,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2113,1912,1912,4095,0,0,0,0,0,0,25.90,25.91,25.91,10.07,46.37
$GC,743,1.78,487.5,2892,2113,1911,4095,37.7,13.5,92,752,0.00,0.98,0.00,0.000,516,0.000,0.047,2892,1738,1911,1911,4094,0,0,0,0,0,0,26.00,25.65,26.01,10.06,47.28
$GC,881,1.78,487.5,2892,1737,1908,4094,20.4,12.3,112,891,0.00,0.93,0.00,0.000,1030,0.000,0.030,2892,2116,1907,1907,4094,0,0,0,0,0,0,25.95,25.92,25.99,10.08,48.14
$GC,930,1.79,493.0,2892,2116,1906,4094,15.2,10.4,118,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2116,1906,1906,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.12,50.19
$GC,977,1.87,549.7,2891,2116,1905,4094,10.8,9.7,124,987,0.22,0.00,4.62,0.481,10246,0.047,0.000,2923,2116,1842,1842,4094,0,0,0,0,0,0,26.07,25.67,24.82,10.14,51.18
$GC,1027,1.95,602.9,2923,2116,1841,4094,6.2,9.7,130,1037,0.20,0.00,4.47,0.433,10246,0.047,0.000,2949,2116,1779,1779,4094,0,0,0,0,0,0,26.06,25.67,24.87,10.15,52.04
$STATE,1058,end climb,FINISH_DEPTH_REACHED
$STATE,1058,begin subsurface finish
$FINISH1,1.9,1.024074,106
$GC,1068,0.16,106.3,2949,2116,1778,4094,1.9,11.5,134,1088,5.75,1.05,-5.18,0.000,20996,0.023,1.258,2391,1737,2364,2364,4094,0,0,0,0,0,0,26.06,24.42,26.09,10.15,52.00
$FINISH2,0.3
$STATE,1089,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,160857
$TT8_MAMPS,0.026215,0.236684
$HUMID,53.03
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.89,43.043
$10V_AH,10.13,42.835
$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,24.600,9.325,65.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,385.073,0.000,110.043,568.418,85.638,0.000,331.365,0.000,331.091,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1257.660,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.069,369.564,292.405,433.748,566.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14335,136
$CAP_FILE_SIZE,25257,0
$CFSIZE,1024409600,944799744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,172419,6127.770,-17350.873,11,0.8,23,7.0,0.3,54.0,10,4.9