version: 66.13
glider: 401
mission: 22
dive: 1532
start: 8 22 117 22 42 35
data:
$ID,401
$MISSION,22
$DIVE,1532
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,220817,222121,6125.1489,-17349.6250,4,0.9,17,7.0,0.0,160.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.6
$GPS2,220817,222121,6125.1489,-17349.6250,4,0.9,17,7.0,0.0,160.0,9,4.9
$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,173.2,39242,-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,-487.5,2396,1973,2361,4092,0.0,0.0,0,20,6.43,0.00,-2.00,0.000,20482,0.024,0.000,1774,1973,2577,2577,4095,0,0,0,0,0,0,26.12,28.83,26.17,10.32,53.03
$GC,25,-1.78,-487.5,1774,1973,2576,4095,0.1,0.0,1,35,0.00,1.10,-4.50,0.000,16644,0.000,1.251,1774,2364,3056,3056,4094,0,0,0,0,0,0,26.38,24.49,26.39,10.38,53.03
$GC,93,-1.78,-487.5,1773,2364,3057,4094,3.7,-12.5,10,101,0.00,1.02,0.00,0.000,1030,0.000,0.033,1774,1956,3057,3057,4094,0,0,0,0,0,0,26.08,26.08,26.11,10.48,53.03
$GC,139,-1.78,-487.5,1773,1956,3058,4094,10.9,-16.4,16,148,0.00,1.10,0.00,0.000,516,0.000,0.050,1773,1521,3058,3058,4095,0,0,0,0,0,0,26.39,26.02,26.40,10.48,52.79
$GC,200,-1.78,-487.5,1773,1521,3059,4095,20.8,-16.3,24,209,0.00,0.98,0.00,0.000,1030,0.000,0.027,1774,1938,3060,3060,4094,0,0,0,0,0,0,26.19,26.15,26.21,10.48,52.40
$GC,248,-1.78,-487.5,1773,1937,3061,4094,27.6,-13.3,30,258,0.00,1.15,0.00,0.000,260,0.000,0.047,1774,2374,3062,3062,4094,0,0,0,0,0,0,26.45,26.10,26.46,10.44,52.00
$GC,374,-1.78,-487.5,1773,2374,3064,4094,42.9,-12.6,48,384,0.00,1.05,0.00,0.000,1030,0.000,0.031,1774,1952,3064,3064,4094,0,0,0,0,0,0,26.24,26.20,26.27,10.38,49.09
$GC,423,-1.78,-487.5,1773,1952,3064,4094,48.9,-13.1,54,432,0.00,1.08,0.00,0.000,516,0.000,0.051,1774,1526,3066,3066,4094,0,0,0,0,0,0,26.53,26.15,26.54,10.37,48.62
$GC,483,-1.78,-487.5,1773,1525,3067,4094,57.0,-12.9,62,492,0.00,1.02,0.00,0.000,1030,0.000,0.027,1774,1964,3067,3067,4094,0,0,0,0,0,0,26.32,26.29,26.33,10.36,47.24
$STATE,507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,507,begin apogee
$GC,517,-0.45,0.0,1773,2137,3068,4094,60.8,-13.4,65,553,4.43,0.00,28.35,1.320,10244,0.054,0.000,2184,2137,2484,2484,4094,0,0,0,0,0,0,26.21,25.33,24.29,10.35,47.24
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,558,1.78,487.5,2184,2137,2484,4094,64.0,0.0,69,603,7.53,1.10,28.05,1.291,10756,0.031,0.043,2896,1716,1915,1915,4094,0,0,0,0,0,0,25.53,25.48,23.87,10.23,46.61
$GC,628,1.78,487.5,2895,1715,1915,4094,59.5,11.1,77,638,0.00,1.05,0.00,0.000,1030,0.000,0.029,2896,2131,1915,1915,4094,0,0,0,0,0,0,25.30,25.30,25.36,10.10,45.43
$GC,676,1.78,487.5,2895,2131,1914,4094,53.3,13.0,83,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2131,1913,1913,4095,0,0,0,0,0,0,25.72,25.75,25.74,10.09,45.51
$GC,722,1.78,487.5,2895,2131,1912,4095,47.3,12.9,89,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2131,1911,1911,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.07,45.74
$GC,769,1.78,487.5,2895,2131,1911,4094,41.3,12.6,95,778,0.00,1.10,0.00,0.000,516,0.000,0.045,2896,1719,1911,1911,4094,0,0,0,0,0,0,25.97,25.63,25.98,10.08,46.22
$GC,816,1.78,487.5,2895,1718,1909,4094,35.1,13.2,101,826,0.00,1.02,0.00,0.000,1030,0.000,0.031,2896,2132,1909,1909,4094,0,0,0,0,0,0,25.81,25.77,25.83,10.07,46.37
$GC,864,1.78,487.5,2895,2132,1908,4094,28.9,13.1,107,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2132,1908,1908,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.08,46.73
$GC,911,1.78,487.5,2895,2132,1907,4094,23.4,11.1,113,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2132,1907,1907,4094,0,0,0,0,0,0,26.17,26.20,26.20,10.10,47.48
$GC,957,1.87,551.2,2895,2132,1905,4094,18.8,9.6,119,968,0.15,1.10,4.72,0.538,10756,0.063,0.045,2919,1717,1841,1841,4094,0,0,0,0,0,0,25.98,25.68,24.71,10.14,49.09
$GC,1032,1.87,551.2,2918,1716,1839,4094,11.0,10.9,129,1042,0.00,1.00,0.00,0.000,1030,0.000,0.030,2919,2127,1839,1839,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.16,51.41
$GC,1080,1.87,551.2,2918,2126,1838,4094,5.7,11.2,135,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2127,1837,1837,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.17,52.00
$STATE,1110,end climb,FINISH_DEPTH_REACHED
$STATE,1110,begin subsurface finish
$FINISH1,1.9,1.024007,111
$GC,1120,0.17,111.1,2919,2126,1836,4094,1.9,11.2,139,1138,5.45,1.12,-4.62,0.000,20996,0.029,1.258,2393,1716,2354,2354,4094,0,0,0,0,0,0,26.10,24.44,26.14,10.18,52.36
$FINISH2,0.2
$STATE,1139,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1139,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,210224
$TT8_MAMPS,0.025466,0.243425
$HUMID,53.03
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.87,43.398
$10V_AH,10.14,43.121
$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,23.975,16.975,61.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,396.489,0.000,120.892,585.767,96.860,0.000,357.871,0.000,342.485,0.000,0.543,0.000
$DEVICE_MAMPS,62.730,1258.425,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.162,383.082,303.134,449.157,584.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,14303,141
$CAP_FILE_SIZE,28727,0
$CFSIZE,1024409600,944209920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,222121,6125.149,-17349.625,4,0.9,17,7.0,0.0,160.0,9,4.9