version: 66.13
glider: 401
mission: 22
dive: 1537
start: 8 23 117 0 54 41
data:
$ID,401
$MISSION,22
$DIVE,1537
$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,23
$R_STBD_OVSHOOT,65
$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
$GPS1,230817,003719,6123.6523,-17351.0684,4,0.8,20,7.0,0.3,259.2,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-38.6
$GPS2,230817,005401,6123.6616,-17351.3145,9,0.8,30,7.0,0.5,250.4,10,4.6
$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,170.8,36515,-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,-487.5,230,1950,1865,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.103,0.000,696,1949,1865,1865,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.29,50.11
$GC,22,-1.78,-487.5,696,1948,1865,4094,0.8,0.0,1,53,11.62,1.15,-11.02,0.000,18948,0.052,1.248,1764,1512,3057,3057,4095,0,0,0,0,0,0,25.91,24.25,25.94,10.29,49.64
$GC,190,-1.78,-487.5,1763,1512,3061,4095,21.1,-16.4,28,197,0.00,0.95,0.00,0.000,1030,0.000,0.026,1764,1918,3061,3061,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.55,49.72
$GC,231,-1.78,-487.5,1763,1918,3062,4094,27.5,-15.5,34,237,0.00,1.17,0.00,0.000,260,0.000,0.043,1764,2369,3062,3062,4094,0,0,0,0,0,0,26.31,25.95,26.32,10.51,49.09
$GC,385,-1.78,-487.5,1763,2368,3066,4094,46.8,-12.7,59,391,0.00,1.08,0.00,0.000,1030,0.000,0.029,1764,1934,3066,3066,4095,0,0,0,0,0,0,26.15,26.10,26.17,10.41,46.25
$GC,425,-1.78,-487.5,1763,1934,3067,4095,51.9,-12.7,65,432,0.00,1.02,0.00,0.000,516,0.000,0.050,1764,1526,3067,3067,4094,0,0,0,0,0,0,26.45,26.08,26.46,10.40,45.39
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,497,-0.45,0.0,1764,2131,3068,4095,60.5,-13.5,75,533,4.55,0.00,28.27,1.306,10244,0.054,0.000,2186,2131,2484,2484,4095,0,0,0,0,0,0,26.13,25.26,24.22,10.38,44.56
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,538,1.78,487.5,2186,2131,2484,4095,63.7,0.0,81,579,7.47,0.00,27.90,1.280,11270,0.030,0.000,2891,2131,1915,1915,4094,0,0,0,0,0,0,25.56,25.70,23.84,10.26,44.76
$GC,613,1.78,487.5,2890,2131,1914,4094,57.4,12.5,93,620,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1716,1914,1914,4094,0,0,0,0,0,0,25.53,25.24,25.54,10.13,43.89
$GC,707,1.78,487.5,2891,1715,1911,4094,44.8,13.5,108,714,0.00,1.02,0.00,0.000,1030,0.000,0.028,2891,2132,1911,1911,4094,0,0,0,0,0,0,25.63,25.61,25.67,10.12,44.48
$GC,748,1.78,487.5,2890,2132,1910,4094,39.4,13.6,114,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1910,1910,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.11,44.64
$GC,787,1.78,487.5,2890,2132,1908,4094,34.4,12.3,120,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2132,1908,1908,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.11,45.19
$GC,827,1.78,487.5,2891,2132,1907,4094,29.4,12.9,126,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2132,1907,1907,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.11,46.25
$GC,866,1.78,487.5,2890,2132,1906,4094,24.8,10.9,132,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1906,1906,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,46.06
$GC,906,1.88,556.6,2890,2132,1905,4094,21.0,9.5,138,919,0.28,1.08,5.05,0.575,10756,0.042,0.047,2928,1721,1834,1834,4094,0,0,0,0,0,0,25.98,25.65,24.68,10.13,46.65
$STATE,1077,end climb,FINISH_DEPTH_REACHED
$STATE,1077,begin subsurface finish
$FINISH1,1.6,1.023976,113
$GC,1089,0.17,113.2,2927,2139,1829,4094,1.6,11.9,166,1102,5.43,0.00,-4.70,0.000,20486,0.020,0.000,2397,2148,2358,2358,4094,0,0,0,0,0,0,26.07,24.63,26.13,10.20,51.89
$FINISH2,0.1
$STATE,1103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1104,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,004712
$TT8_MAMPS,0.025466,0.131824
$HUMID,52.32
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.84,43.556
$10V_AH,10.34,43.235
$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,34.975,11.300,61.225,0.000,0.000,110.828,120.473,362.636,0.000,0.000,31.655,436.592,415.620,136.155,846.515,285.261,0.000,310.829,0.000,254.207,0.000,0.542,0.000
$DEVICE_MAMPS,102.510,1248.480,1305.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10845,168
$CAP_FILE_SIZE,32824,0
$CFSIZE,1024409600,943947776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230817,005401,6123.662,-17351.314,9,0.8,30,7.0,0.5,250.4,10,4.6