version: 66.13
glider: 401
mission: 22
dive: 1528
start: 8 22 117 21 8 9
data:
$ID,401
$MISSION,22
$DIVE,1528
$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,28
$R_STBD_OVSHOOT,30
$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
$GPS1,220817,205521,6126.0508,-17349.4746,3,0.8,14,7.0,0.0,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.6
$GPS2,220817,210733,6126.0029,-17349.4375,3,0.8,16,7.0,0.0,0.0,10,4.8
$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,173.4,40825,-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,-487.5,236,1953,1759,4092,0.0,0.0,0,20,8.65,0.00,0.00,0.000,2049,0.103,0.000,952,1947,1759,1759,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.24,50.98
$GC,25,-1.78,-487.5,952,1947,1759,4094,0.9,0.0,1,52,8.70,1.20,-12.02,0.000,18948,0.040,1.260,1766,1526,3056,3056,4094,0,0,0,0,0,0,25.86,24.24,25.90,10.24,50.66
$GC,237,-1.78,-487.5,1765,1525,3061,4094,24.7,-14.4,31,247,0.00,1.00,0.00,0.000,1030,0.000,0.026,1765,1950,3062,3062,4095,0,0,0,0,0,0,26.08,26.04,26.12,10.50,49.92
$GC,285,-1.78,-487.5,1765,1950,3062,4095,31.1,-13.4,37,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1950,3063,3063,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.46,48.93
$GC,332,-1.78,-487.5,1765,1950,3064,4094,36.7,-11.6,43,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1951,3064,3064,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.43,48.11
$GC,379,-1.78,-487.5,1765,1950,3064,4095,42.0,-11.2,49,388,0.00,1.10,0.00,0.000,260,0.000,0.044,1765,2372,3065,3065,4095,0,0,0,0,0,0,26.41,26.05,26.42,10.41,46.77
$GC,465,-1.78,-487.5,1765,2372,3067,4095,52.6,-12.7,61,474,0.00,1.08,0.00,0.000,1030,0.000,0.029,1765,1939,3067,3067,4095,0,0,0,0,0,0,26.21,26.15,26.20,10.38,46.22
$GC,513,-1.78,-487.5,1764,1939,3068,4095,58.9,-13.4,67,522,0.00,1.05,0.00,0.000,516,0.000,0.050,1765,1521,3068,3068,4095,0,0,0,0,0,0,26.48,26.11,26.50,10.38,45.11
$STATE,530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,530,begin apogee
$GC,541,-0.45,0.0,1765,2133,3068,4094,61.9,-13.7,69,577,4.53,0.00,28.48,1.323,10244,0.054,0.000,2185,2133,2484,2484,4094,0,0,0,0,0,0,26.14,25.26,24.20,10.37,45.82
$STATE,578,end apogee,CONTROL_FINISHED_OK
$STATE,579,begin climb
$GC,583,1.78,487.5,2185,2133,2484,4094,65.3,0.0,73,627,7.55,0.00,28.17,1.297,11270,0.031,0.000,2892,2134,1915,1915,4094,0,0,0,0,0,0,25.54,25.70,23.82,10.25,44.72
$GC,667,1.78,487.5,2892,2133,1914,4094,59.0,12.2,83,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1914,1914,4095,0,0,0,0,0,0,25.56,25.58,25.57,10.12,43.89
$GC,715,1.78,487.5,2892,2134,1913,4095,52.7,13.2,89,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1913,1913,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.11,44.17
$GC,763,1.78,487.5,2892,2133,1911,4094,46.4,13.2,95,772,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1714,1911,1911,4094,0,0,0,0,0,0,25.89,25.56,25.90,10.11,44.32
$GC,824,1.78,487.5,2892,1712,1909,4094,38.0,13.9,103,833,0.00,1.02,0.00,0.000,1030,0.000,0.030,2893,2129,1909,1909,4094,0,0,0,0,0,0,25.76,25.74,25.79,10.10,45.35
$GC,873,1.78,487.5,2892,2128,1907,4094,31.6,13.5,109,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1907,1907,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.09,45.51
$GC,921,1.78,487.5,2892,2128,1906,4094,26.0,11.5,115,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1906,1906,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,46.18
$GC,969,1.80,502.8,2892,2128,1906,4094,20.8,10.3,121,979,0.00,0.00,0.85,0.003,8198,0.000,0.000,2892,2129,1905,1905,4094,0,0,0,0,0,0,26.22,26.20,26.21,10.14,47.16
$GC,1018,1.92,579.9,2892,2128,1904,4094,16.4,9.4,127,1028,0.38,0.00,6.15,0.603,10246,0.035,0.000,2937,2129,1806,1806,4094,0,0,0,0,0,0,26.03,25.63,24.77,10.17,49.52
$GC,1068,1.92,579.9,2936,2128,1805,4094,11.1,11.2,133,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2129,1805,1805,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.17,51.14
$GC,1115,1.92,579.9,2936,2128,1803,4094,5.8,11.1,139,1124,0.00,1.10,0.00,0.000,516,0.000,0.047,2937,1712,1803,1803,4094,0,0,0,0,0,0,26.28,25.91,26.29,10.18,51.69
$STATE,1152,end climb,FINISH_DEPTH_REACHED
$STATE,1152,begin subsurface finish
$FINISH1,1.3,1.023968,114
$GC,1164,0.17,113.7,2936,2145,1803,4094,1.3,10.6,144,1183,5.57,1.23,-4.97,0.000,20996,0.024,1.261,2396,1710,2355,2355,4094,0,0,0,0,0,0,26.07,24.44,26.12,10.19,51.92
$FINISH2,0.2
$STATE,1184,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1185,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,205843
$TT8_MAMPS,0.025466,0.244174
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.82,43.290
$10V_AH,10.12,43.029
$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,35.375,12.550,63.650,0.000,0.000,47.012,50.265,355.364,0.000,0.000,17.911,418.578,44.514,127.923,1045.679,291.502,0.000,377.473,0.000,357.165,0.000,0.542,0.000
$DEVICE_MAMPS,102.510,1260.720,1323.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.557,396.700,313.846,465.330,608.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329256
$DATA_FILE_SIZE,14285,146
$CAP_FILE_SIZE,33617,0
$CFSIZE,1024409600,944390144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,210733,6126.003,-17349.438,3,0.8,16,7.0,0.0,0.0,10,4.8