version: 66.13
glider: 401
mission: 22
dive: 1555
start: 8 23 117 8 35 20
data:
$ID,401
$MISSION,22
$DIVE,1555
$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,30
$R_STBD_OVSHOOT,45
$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
$GPS1,230817,080806,6122.4043,-17349.9707,7,0.9,18,7.0,0.3,157.6,9,5.0
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-35.6
$GPS2,230817,083444,6122.3652,-17349.7500,5,0.9,20,7.0,0.5,70.5,9,5.0
$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,173.0,34087,-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,-487.5,238,1980,1898,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,2049,0.093,0.000,720,1976,1899,1899,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.31,48.97
$GC,22,-1.78,-487.5,719,1975,1899,4094,0.7,0.0,1,53,11.43,1.25,-10.70,0.000,18948,0.057,1.255,1763,1519,3058,3058,4095,0,0,0,0,0,0,25.95,24.31,26.03,10.31,48.89
$GC,269,-1.78,-487.5,1763,1518,3064,4095,26.7,-14.5,41,276,0.00,0.98,0.00,0.000,1030,0.000,0.025,1763,1940,3064,3064,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.53,48.22
$GC,310,-1.78,-487.5,1763,1940,3064,4095,32.0,-13.1,47,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1940,3065,3065,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.48,47.75
$GC,349,-1.78,-487.5,1763,1940,3066,4094,37.2,-13.0,53,356,0.00,1.10,0.00,0.000,260,0.000,0.043,1763,2364,3066,3066,4094,0,0,0,0,0,0,26.43,26.08,26.44,10.47,47.24
$GC,407,-1.78,-487.5,1763,2363,3067,4094,44.9,-13.0,62,414,0.00,1.00,0.00,0.000,1030,0.000,0.027,1764,1963,3067,3067,4094,0,0,0,0,0,0,26.22,26.20,26.24,10.44,46.29
$GC,447,-1.78,-487.5,1763,1963,3068,4094,50.0,-13.0,68,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1963,3068,3068,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.43,45.90
$GC,487,-1.78,-487.5,1763,1963,3069,4094,55.3,-13.2,74,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1963,3069,3069,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.41,44.72
$STATE,522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,523,begin apogee
$GC,533,-0.45,0.0,1763,2138,3070,4094,60.6,-13.7,80,569,4.53,0.00,28.23,1.320,10244,0.054,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.15,25.30,24.25,10.41,44.95
$STATE,570,end apogee,CONTROL_FINISHED_OK
$STATE,570,begin climb
$GC,574,1.78,487.5,2186,2137,2484,4094,63.7,0.0,86,616,7.50,0.00,27.85,1.284,11270,0.031,0.000,2893,2138,1916,1916,4094,0,0,0,0,0,0,25.58,25.74,23.87,10.28,44.17
$GC,649,1.78,487.5,2893,2137,1915,4094,57.1,13.3,98,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2137,1915,1915,4094,0,0,0,0,0,0,25.56,25.57,25.56,10.15,43.38
$GC,689,1.78,487.5,2892,2137,1913,4094,51.8,13.4,104,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2138,1913,1913,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.14,43.42
$GC,728,1.78,487.5,2893,2137,1912,4094,46.3,13.9,110,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2137,1912,1912,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.13,43.77
$GC,768,1.78,487.5,2893,2138,1911,4094,40.8,13.6,116,774,0.00,1.15,0.00,0.000,516,0.000,0.044,2893,1706,1911,1911,4095,0,0,0,0,0,0,25.96,25.61,25.96,10.13,44.95
$GC,862,1.78,487.5,2892,1706,1908,4095,28.6,13.0,131,869,0.00,1.05,0.00,0.000,1030,0.000,0.029,2893,2134,1908,1908,4094,0,0,0,0,0,0,25.87,25.84,25.90,10.13,45.94
$GC,903,1.78,487.5,2893,2134,1907,4094,23.6,12.3,137,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2135,1907,1907,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.14,46.57
$GC,942,1.78,487.5,2893,2134,1906,4094,19.1,10.9,143,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1905,1905,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.17,47.28
$GC,982,1.78,487.5,2893,2134,1905,4094,14.8,11.4,149,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1904,1904,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.19,49.44
$GC,1021,1.86,539.6,2893,2134,1903,4095,10.8,9.8,155,1030,0.15,1.12,4.07,0.430,10756,0.060,0.044,2917,1706,1853,1853,4094,0,0,0,0,0,0,26.08,25.75,24.82,10.20,50.03
$STATE,1108,end climb,FINISH_DEPTH_REACHED
$STATE,1108,begin subsurface finish
$FINISH1,1.6,1.023977,113
$GC,1123,0.17,113.1,2917,2146,1851,4094,1.6,10.5,169,1138,5.35,1.23,-4.53,0.000,20996,0.022,1.257,2394,1709,2358,2358,4095,0,0,0,0,0,0,26.10,24.44,26.15,10.22,52.59
$FINISH2,0.1
$STATE,1139,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1139,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,081904
$TT8_MAMPS,0.026215,0.160286
$HUMID,52.16
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,23.87,44.096
$10V_AH,10.31,43.670
$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,34.625,10.400,60.150,0.000,0.000,245.618,248.739,418.480,0.000,0.000,21.817,446.353,679.915,146.393,1150.643,323.847,0.000,331.437,0.000,258.409,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1256.895,1319.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,14298,171
$CAP_FILE_SIZE,40128,0
$CFSIZE,1024409600,943063040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230817,083444,6122.365,-17349.750,5,0.9,20,7.0,0.5,70.5,9,5.0