version: 66.13
glider: 401
mission: 22
dive: 1552
start: 8 23 117 7 5 2
data:
$ID,401
$MISSION,22
$DIVE,1552
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,230817,065352,6122.9038,-17351.1016,7,0.7,24,7.0,0.0,27.8,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-39.8
$GPS2,230817,070426,6122.9443,-17350.9766,5,0.9,50,7.0,0.3,15.3,9,5.5
$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,171.2,35176,-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,-487.5,237,1968,1828,4092,0.0,0.0,0,21,8.52,0.00,0.00,0.000,2049,0.096,0.000,957,1963,1828,1828,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.26,51.65
$GC,25,-1.78,-487.5,957,1966,1828,4094,0.8,0.0,1,53,8.62,1.20,-11.48,0.000,18948,0.042,1.258,1762,1526,3054,3054,4094,0,0,0,0,0,0,25.93,24.32,26.00,10.26,51.53
$GC,231,-1.78,-487.5,1762,1526,3059,4094,26.8,-14.7,30,241,0.00,1.00,0.00,0.000,1030,0.000,0.027,1762,1954,3060,3060,4094,0,0,0,0,0,0,26.12,26.09,26.13,10.51,50.59
$GC,279,-1.78,-487.5,1762,1954,3060,4094,33.0,-12.9,36,289,0.00,1.08,0.00,0.000,260,0.000,0.044,1762,2366,3061,3061,4094,0,0,0,0,0,0,26.39,26.03,26.40,10.46,49.25
$GC,360,-1.78,-487.5,1762,2366,3062,4094,43.7,-13.1,47,369,0.00,1.02,0.00,0.000,1030,0.000,0.028,1762,1954,3062,3062,4094,0,0,0,0,0,0,26.17,26.14,26.19,10.42,47.55
$GC,407,-1.78,-487.5,1762,1954,3063,4094,50.1,-13.1,53,416,0.00,1.08,0.00,0.000,516,0.000,0.049,1762,1526,3064,3064,4095,0,0,0,0,0,0,26.46,26.09,26.48,10.41,46.81
$GC,482,-1.78,-487.5,1762,1526,3066,4095,59.8,-14.1,63,491,0.00,0.98,0.00,0.000,1030,0.000,0.026,1763,1947,3066,3066,4094,0,0,0,0,0,0,26.27,26.24,26.28,10.38,45.78
$STATE,499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,499,begin apogee
$GC,509,-0.45,0.0,1762,2129,3066,4094,63.1,-14.4,65,545,4.55,0.00,28.35,1.338,10244,0.054,0.000,2185,2129,2484,2484,4095,0,0,0,0,0,0,26.15,25.28,24.23,10.38,45.31
$STATE,546,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,551,1.78,487.5,2185,2129,2484,4095,66.4,0.0,69,596,7.50,1.08,28.17,1.310,10756,0.029,0.042,2895,1715,1914,1914,4094,0,0,0,0,0,0,25.48,25.44,23.84,10.26,45.11
$GC,635,1.78,487.5,2894,1714,1913,4094,59.8,12.8,79,645,0.00,1.05,0.00,0.000,1030,0.000,0.029,2895,2132,1913,1913,4094,0,0,0,0,0,0,25.38,25.32,25.39,10.13,44.56
$GC,684,1.78,487.5,2894,2132,1911,4094,53.2,13.2,85,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2132,1912,1912,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.12,44.01
$GC,733,1.78,487.5,2894,2132,1910,4094,46.5,13.7,91,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2132,1910,1910,4095,0,0,0,0,0,0,25.91,25.92,25.92,10.11,45.23
$GC,781,1.78,487.5,2894,2132,1909,4095,40.3,12.6,97,791,0.00,1.10,0.00,0.000,516,0.000,0.044,2895,1714,1908,1908,4094,0,0,0,0,0,0,26.01,25.67,26.02,10.11,44.92
$GC,863,1.78,487.5,2894,1713,1906,4094,30.5,11.7,108,872,0.00,1.05,0.00,0.000,1030,0.000,0.031,2895,2139,1906,1906,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.11,46.77
$GC,912,1.78,487.5,2894,2138,1905,4094,25.0,11.4,114,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2139,1905,1905,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.15,47.20
$GC,960,1.78,487.5,2894,2138,1904,4095,19.8,10.7,120,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2139,1903,1903,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.18,49.52
$GC,1008,1.78,487.5,2894,2139,1902,4094,14.6,10.8,126,1017,0.00,1.12,0.00,0.000,516,0.000,0.044,2895,1712,1902,1902,4094,0,0,0,0,0,0,26.30,25.94,26.32,10.20,50.11
$GC,1127,1.88,553.4,2894,1711,1899,4094,2.3,9.6,143,1138,0.22,1.05,4.53,0.408,11270,0.041,0.028,2925,2148,1837,1837,4094,0,0,0,0,0,0,26.10,26.12,24.97,10.21,52.55
$STATE,1146,end climb,FINISH_DEPTH_REACHED
$STATE,1146,begin subsurface finish
$FINISH1,0.0,1.017994,533
$GC,1156,0.80,533.2,2925,2157,1837,4094,0.0,9.5,145,1166,3.35,0.00,-0.30,0.000,20486,0.024,0.000,2594,2157,1869,1869,4094,0,0,0,0,0,0,26.10,24.62,26.16,10.21,52.36
$FINISH2,0.1
$STATE,1167,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1167,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,065713
$TT8_MAMPS,0.025466,0.248668
$HUMID,52.32
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.84,43.987
$10V_AH,10.14,43.603
$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,32.775,13.225,61.050,0.000,0.000,51.624,41.206,242.026,0.000,0.000,51.761,421.024,44.935,114.034,959.801,272.555,0.000,350.047,0.000,358.070,0.000,0.542,0.000
$DEVICE_MAMPS,95.625,1257.660,1337.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.904,396.795,313.956,465.532,608.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,14312,146
$CAP_FILE_SIZE,31314,0
$CFSIZE,1024409600,943226880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230817,070426,6122.944,-17350.977,5,0.9,50,7.0,0.3,15.3,9,5.5