version: 66.13
glider: 401
mission: 22
dive: 1570
start: 8 23 117 14 59 10
data:
$ID,401
$MISSION,22
$DIVE,1570
$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,34
$R_STBD_OVSHOOT,64
$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
$GPS1,230817,144930,6118.6206,-17351.1816,4,0.8,17,7.0,0.8,341.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.8
$GPS2,230817,145833,6118.6548,-17351.3203,8,0.7,16,7.0,0.0,280.2,11,4.8
$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,170.0,27252,-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,-487.5,240,1936,1869,4092,0.0,0.0,0,21,8.73,0.00,0.00,0.000,2049,0.101,0.000,965,1932,1870,1870,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.27,51.69
$GC,25,-1.78,-487.5,965,1934,1870,4094,0.8,0.0,1,53,8.55,1.12,-11.23,0.000,18948,0.041,1.255,1763,1526,3056,3056,4094,0,0,0,0,0,0,25.88,24.27,25.96,10.27,52.08
$GC,212,-1.78,-487.5,1763,1526,3061,4094,22.9,-16.9,27,220,0.00,0.93,0.00,0.000,1030,0.000,0.025,1763,1923,3062,3062,4094,0,0,0,0,0,0,26.07,26.04,26.11,10.51,51.02
$GC,259,-1.78,-487.5,1763,1923,3062,4094,29.6,-13.3,33,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1924,3062,3062,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.49,49.80
$GC,306,-1.78,-487.5,1763,1924,3063,4095,36.0,-13.9,39,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1925,3064,3064,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.46,49.52
$GC,351,-1.78,-487.5,1763,1925,3064,4095,42.1,-13.1,45,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1925,3065,3065,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.43,48.93
$GC,398,-1.78,-487.5,1763,1925,3066,4094,48.4,-13.5,51,408,0.00,1.15,0.00,0.000,260,0.000,0.043,1763,2365,3066,3066,4094,0,0,0,0,0,0,26.44,26.07,26.45,10.41,47.24
$GC,452,-1.78,-487.5,1763,2365,3067,4094,55.6,-13.2,58,462,0.00,1.05,0.00,0.000,1030,0.000,0.030,1764,1942,3067,3067,4095,0,0,0,0,0,0,26.18,26.15,26.25,10.40,47.28
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,494,-0.45,0.0,1763,2137,3068,4094,60.1,-13.1,62,531,4.55,0.00,28.30,1.304,10244,0.054,0.000,2186,2138,2484,2484,4095,0,0,0,0,0,0,26.12,25.27,24.25,10.39,46.57
$STATE,532,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,536,1.78,487.5,2186,2137,2484,4095,63.6,0.0,66,581,7.50,1.12,28.08,1.275,10500,0.030,0.050,2893,2555,1914,1914,4094,0,0,0,0,0,0,25.51,25.42,23.87,10.27,45.55
$GC,606,1.78,487.5,2893,2554,1913,4094,58.4,12.0,74,616,0.00,1.08,0.00,0.000,1030,0.000,0.024,2894,2131,1913,1913,4094,0,0,0,0,0,0,25.31,25.28,25.32,10.14,45.03
$GC,654,1.78,487.5,2893,2131,1912,4094,52.0,13.6,80,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1912,1912,4094,0,0,0,0,0,0,25.73,25.74,25.74,10.13,44.56
$GC,700,1.78,487.5,2893,2131,1910,4094,45.6,13.1,86,710,0.00,1.08,0.00,0.000,516,0.000,0.047,2894,1718,1910,1910,4094,0,0,0,0,0,0,25.87,25.53,25.88,10.12,44.48
$GC,787,1.78,487.5,2893,1718,1908,4094,34.1,13.3,98,797,0.00,1.00,0.00,0.000,1030,0.000,0.028,2894,2126,1907,1907,4094,0,0,0,0,0,0,25.81,25.77,25.83,10.12,45.51
$GC,835,1.78,487.5,2893,2126,1906,4094,28.2,12.3,104,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2126,1906,1906,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.13,46.02
$GC,882,1.78,487.5,2893,2126,1905,4094,22.6,11.5,110,896,0.00,1.05,0.00,0.000,516,0.000,0.044,2893,1720,1904,1904,4094,0,0,0,0,0,0,26.19,25.83,26.20,10.15,47.32
$GC,954,1.80,501.1,2893,1719,1903,4094,15.8,10.3,119,964,0.00,0.98,0.28,0.002,9222,0.000,0.032,2894,2116,1903,1903,4094,0,0,0,0,0,0,26.00,25.96,26.03,10.19,49.88
$GC,1002,1.80,501.1,2893,2115,1901,4094,10.5,11.0,125,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2115,1901,1901,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.21,50.70
$GC,1049,1.92,583.8,2893,2115,1901,4094,6.0,9.3,131,1060,0.40,1.05,6.10,0.516,10756,0.035,0.050,2940,1720,1802,1802,4094,0,0,0,0,0,0,26.13,25.77,24.92,10.21,51.73
$STATE,1088,end climb,FINISH_DEPTH_REACHED
$STATE,1088,begin subsurface finish
$FINISH1,1.5,1.024013,111
$GC,1100,0.17,110.6,2940,2136,1801,4094,1.5,10.9,136,1119,5.60,1.17,-4.50,0.000,20996,0.023,1.259,2391,1720,2360,2360,4095,0,0,0,0,0,0,26.10,24.46,26.13,10.20,51.49
$FINISH2,0.8
$STATE,1120,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1120,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,133835
$TT8_MAMPS,0.025466,0.257656
$HUMID,52.08
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.87,44.545
$10V_AH,10.12,44.053
$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,35.325,14.450,62.750,0.000,0.000,22.542,18.914,281.477,0.000,0.000,17.732,391.860,0.000,124.482,878.078,281.534,0.000,369.116,0.000,338.317,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,1259.190,1304.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.856,374.993,296.688,439.967,575.602,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,14363,138
$CAP_FILE_SIZE,32034,0
$CFSIZE,1024409600,942342144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,882.13,0x236164,1,24
$GPS,230817,145833,6118.655,-17351.320,8,0.7,16,7.0,0.0,280.2,11,4.8