version: 66.13
glider: 401
mission: 22
dive: 1568
start: 8 23 117 14 5 18
data:
$ID,401
$MISSION,22
$DIVE,1568
$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,39
$R_STBD_OVSHOOT,68
$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
$GPS1,230817,134435,6118.9824,-17350.6230,5,0.7,15,7.0,0.5,277.3,10,4.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.2
$GPS2,230817,134435,6118.9824,-17350.6230,5,0.7,15,7.0,0.5,277.3,10,4.6
$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,171.4,27833,-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,-487.5,2393,1991,2361,4091,0.0,0.0,0,20,6.30,0.00,-1.60,0.000,20482,0.021,0.000,1771,1992,2533,2533,4095,0,0,0,0,0,0,26.18,28.83,26.22,10.34,53.42
$GC,25,-1.78,-487.5,1771,1992,2533,4095,0.1,0.0,1,35,0.00,1.30,-4.95,0.000,16900,0.000,1.276,1771,1538,3057,3057,4095,0,0,0,0,0,0,26.41,24.49,26.41,10.37,52.91
$GC,294,-1.78,-487.5,1770,1538,3062,4095,30.2,-10.4,40,303,0.00,0.88,0.00,0.000,1030,0.000,0.025,1770,1938,3062,3062,4094,0,0,0,0,0,0,26.30,26.28,26.31,10.44,51.85
$GC,344,-1.78,-487.5,1771,1937,3063,4094,35.3,-10.2,46,353,0.00,1.05,0.00,0.000,260,0.000,0.041,1770,2350,3063,3063,4094,0,0,0,0,0,0,26.53,26.18,26.54,10.43,51.14
$GC,470,-1.78,-487.5,1770,2350,3066,4094,48.1,-10.1,64,479,0.00,1.10,0.00,0.000,1030,0.000,0.032,1770,1914,3066,3066,4094,0,0,0,0,0,0,26.29,26.25,26.33,10.38,48.93
$GC,519,-1.78,-487.5,1770,1914,3066,4094,52.8,-9.6,70,528,0.00,1.00,0.00,0.000,516,0.000,0.057,1770,1521,3067,3067,4094,0,0,0,0,0,0,26.60,26.19,26.61,10.38,48.85
$STATE,588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,588,begin apogee
$GC,599,-0.45,0.0,1770,2117,3068,4094,60.4,-10.2,80,635,4.43,0.00,28.27,1.314,10244,0.050,0.000,2187,2117,2484,2484,4094,0,0,0,0,0,0,26.27,25.39,24.35,10.37,47.59
$STATE,636,end apogee,CONTROL_FINISHED_OK
$STATE,636,begin climb
$GC,640,1.78,487.5,2187,2117,2484,4094,64.0,0.0,84,686,7.43,1.17,27.88,1.295,10500,0.028,0.051,2891,2559,1917,1917,4094,0,0,0,0,0,0,25.58,25.52,23.94,10.24,47.44
$GC,897,1.78,487.5,2890,2558,1912,4094,40.4,10.9,120,905,0.00,1.08,0.00,0.000,1030,0.000,0.025,2891,2126,1912,1912,4094,0,0,0,0,0,0,25.86,25.82,25.87,10.09,47.20
$GC,944,1.81,508.3,2891,2126,1911,4094,35.6,10.2,126,954,0.00,1.20,2.90,0.358,8452,0.000,0.048,2891,2564,1890,1890,4095,0,0,0,0,0,0,26.16,25.18,24.46,10.09,47.51
$GC,1159,1.98,622.1,2891,2564,1885,4095,14.3,8.8,157,1178,0.60,0.98,7.38,0.632,11270,0.026,0.026,2957,2154,1757,1757,4095,0,0,0,0,0,0,26.11,26.10,24.85,10.17,52.24
$GC,1217,1.98,622.1,2956,2154,1756,4095,8.4,11.3,164,1226,0.00,1.10,0.00,0.000,516,0.000,0.049,2957,1729,1755,1755,4094,0,0,0,0,0,0,26.30,25.94,26.32,10.16,52.71
$STATE,1274,end climb,FINISH_DEPTH_REACHED
$STATE,1274,begin subsurface finish
$FINISH1,1.3,1.024014,111
$GC,1286,0.17,110.6,2957,2145,1754,4094,1.3,12.2,172,1305,5.75,1.15,-5.43,0.000,20996,0.023,1.256,2396,1723,2353,2353,4095,0,0,0,0,0,0,26.09,24.48,26.15,10.18,54.25
$FINISH2,0.1
$STATE,1306,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1306,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,122129
$TT8_MAMPS,0.025466,0.241927
$HUMID,54.41
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.94,44.482
$10V_AH,10.15,44.005
$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,24.500,15.050,66.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,469.267,0.737,94.114,723.255,79.769,0.000,310.258,0.000,420.769,0.000,0.542,0.000
$DEVICE_MAMPS,49.725,1276.020,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,120.441,472.762,374.218,555.219,722.754,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330584
$DATA_FILE_SIZE,17862,174
$CAP_FILE_SIZE,24371,0
$CFSIZE,1024409600,942424064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,134435,6118.982,-17350.623,5,0.7,15,7.0,0.5,277.3,10,4.6