version: 66.13
glider: 401
mission: 22
dive: 1562
start: 8 23 117 11 30 37
data:
$ID,401
$MISSION,22
$DIVE,1562
$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,32
$R_STBD_OVSHOOT,69
$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
$GPS1,230817,110916,6120.5269,-17349.0586,9,0.9,30,7.0,0.5,192.5,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.5
$GPS2,230817,110916,6120.5269,-17349.0586,9,0.9,30,7.0,0.5,192.5,10,5.0
$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,174.1,30688,-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,-487.5,2394,2012,2358,4092,0.0,0.0,0,20,6.35,0.00,-1.67,0.000,20482,0.024,0.000,1777,2012,2538,2538,4094,0,0,0,0,0,0,26.11,28.83,26.18,10.35,52.44
$GC,25,-1.78,-487.5,1777,2012,2538,4094,0.0,0.0,1,35,0.00,1.35,-4.57,0.000,16900,0.000,1.261,1777,1522,3057,3057,4094,0,0,0,0,0,0,26.40,24.50,26.41,10.38,52.59
$GC,220,-1.78,-487.5,1777,1522,3062,4094,27.8,-13.5,29,230,0.00,0.93,0.00,0.000,1030,0.000,0.027,1777,1922,3062,3062,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.46,52.20
$GC,268,-1.78,-487.5,1776,1921,3065,4094,34.0,-12.8,35,278,0.00,1.15,0.00,0.000,260,0.000,0.045,1777,2363,3064,3064,4094,0,0,0,0,0,0,26.48,26.14,26.50,10.44,51.10
$GC,342,-1.78,-487.5,1776,2363,3065,4094,43.4,-12.7,45,351,0.00,1.02,0.00,0.000,1030,0.000,0.031,1777,1949,3066,3066,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.40,49.68
$GC,390,-1.78,-487.5,1776,1949,3066,4094,49.3,-12.8,51,399,0.00,1.08,0.00,0.000,516,0.000,0.051,1777,1523,3067,3067,4094,0,0,0,0,0,0,26.54,26.16,26.55,10.38,49.37
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,478,-0.45,0.0,1777,2128,3068,4094,60.0,-13.5,62,515,4.40,0.00,28.25,1.307,10244,0.054,0.000,2184,2129,2484,2484,4095,0,0,0,0,0,0,26.21,25.36,24.33,10.37,47.75
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,520,1.78,487.5,2184,2129,2484,4095,63.8,0.0,66,565,7.53,1.08,27.98,1.276,10756,0.031,0.041,2895,1717,1914,1914,4094,0,0,0,0,0,0,25.56,25.51,23.91,10.24,47.16
$GC,610,1.78,487.5,2894,1717,1913,4094,56.4,12.7,77,619,0.00,1.08,0.00,0.000,1030,0.000,0.030,2895,2144,1913,1913,4094,0,0,0,0,0,0,25.42,25.38,25.45,10.11,45.58
$GC,657,1.78,487.5,2894,2143,1911,4094,50.0,13.3,83,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2144,1912,1912,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.10,46.18
$GC,704,1.78,487.5,2895,2144,1911,4094,43.7,13.0,89,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2144,1910,1910,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.10,46.41
$GC,752,1.78,487.5,2894,2144,1909,4094,37.5,13.1,95,761,0.00,1.12,0.00,0.000,516,0.000,0.044,2895,1721,1908,1908,4094,0,0,0,0,0,0,26.04,25.69,26.06,10.10,46.10
$GC,1018,1.92,583.3,2895,1720,1902,4094,10.0,9.1,134,1029,0.30,1.00,6.15,0.555,11270,0.036,0.028,2932,2136,1803,1803,4094,0,0,0,0,0,0,26.10,26.07,24.91,10.19,51.73
$GC,1069,2.09,693.8,2931,2136,1801,4094,5.7,8.9,140,1088,0.52,1.12,7.30,0.550,10500,0.029,0.046,2989,2562,1673,1673,4094,0,0,0,0,0,0,26.10,25.44,24.92,10.18,51.92
$STATE,1102,end climb,FINISH_DEPTH_REACHED
$STATE,1102,begin subsurface finish
$FINISH1,1.5,1.023965,114
$GC,1114,0.17,114.0,2989,2131,1672,4094,1.5,10.8,144,1134,6.12,1.23,-6.10,0.000,20740,0.022,1.260,2396,2565,2354,2354,4094,0,0,0,0,0,0,26.01,24.45,26.07,10.16,52.59
$FINISH2,0.2
$STATE,1135,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1135,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,110049
$TT8_MAMPS,0.025466,0.270389
$HUMID,52.99
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.91,44.299
$10V_AH,10.12,43.849
$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,25.225,15.350,69.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,401.616,0.000,102.108,610.929,80.946,0.000,313.730,0.000,356.411,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1260.720,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.236,396.717,313.948,465.647,608.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,14287,146
$CAP_FILE_SIZE,23834,0
$CFSIZE,1024409600,942735360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,110916,6120.527,-17349.059,9,0.9,30,7.0,0.5,192.5,10,5.0