version: 66.13
glider: 401
mission: 22
dive: 1571
start: 8 23 117 15 19 44
data:
$ID,401
$MISSION,22
$DIVE,1571
$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,33
$R_STBD_OVSHOOT,66
$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
$GPS1,230817,145833,6118.6548,-17351.3203,8,0.7,16,7.0,0.0,280.2,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-6.0
$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,-487.5,2391,2017,2360,4092,0.0,0.0,0,24,6.28,0.00,-5.07,0.000,20482,0.018,0.000,1774,2017,2937,2937,4095,0,0,0,0,0,0,26.07,28.83,26.10,10.34,51.81
$GC,29,-1.78,-487.5,1774,2017,2936,4095,0.4,-7.6,2,36,0.00,1.33,-1.02,0.000,16900,0.000,1.252,1774,1529,3055,3055,4095,0,0,0,0,0,0,26.31,24.45,26.25,10.46,52.08
$GC,193,-1.78,-487.5,1773,1529,3060,4095,23.4,-15.8,28,200,0.00,0.90,0.00,0.000,1030,0.000,0.027,1773,1920,3060,3060,4095,0,0,0,0,0,0,26.14,26.11,26.16,10.49,52.28
$GC,234,-1.78,-487.5,1773,1920,3061,4095,29.2,-12.5,34,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1920,3061,3061,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.46,51.45
$GC,273,-1.78,-487.5,1773,1921,3062,4095,34.2,-12.4,40,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1921,3062,3062,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.44,51.29
$GC,313,-1.78,-487.5,1773,1921,3063,4095,39.2,-12.4,46,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1921,3063,3063,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.42,50.35
$GC,352,-1.78,-487.5,1773,1921,3064,4094,44.3,-12.7,52,359,0.00,1.15,0.00,0.000,260,0.000,0.044,1774,2362,3064,3064,4095,0,0,0,0,0,0,26.47,26.10,26.48,10.40,49.13
$GC,411,-1.78,-487.5,1773,2362,3065,4095,51.9,-12.9,61,417,0.00,1.05,0.00,0.000,1030,0.000,0.031,1774,1941,3066,3066,4095,0,0,0,0,0,0,26.22,26.18,26.24,10.38,48.58
$GC,451,-1.78,-487.5,1773,1941,3067,4095,57.0,-12.6,67,458,0.00,1.05,0.00,0.000,516,0.000,0.051,1774,1524,3067,3067,4095,0,0,0,0,0,0,26.51,26.14,26.53,10.38,47.95
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,487,-0.45,0.0,1773,2129,3067,4094,60.7,-13.2,71,523,4.43,0.00,28.10,1.303,10244,0.054,0.000,2186,2129,2484,2484,4094,0,0,0,0,0,0,26.16,25.32,24.30,10.37,47.40
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,528,1.78,487.5,2185,2129,2484,4094,63.8,0.0,77,570,7.47,0.00,27.80,1.275,11270,0.031,0.000,2890,2129,1914,1914,4094,0,0,0,0,0,0,25.59,25.75,23.91,10.25,46.96
$GC,604,1.78,487.5,2889,2129,1913,4094,57.5,12.5,89,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2129,1912,1912,4094,0,0,0,0,0,0,25.56,25.57,25.57,10.12,46.61
$GC,643,1.78,487.5,2890,2129,1912,4094,52.2,13.1,95,650,0.00,1.12,0.00,0.000,516,0.000,0.045,2890,1712,1912,1912,4094,0,0,0,0,0,0,25.73,25.43,25.74,10.11,46.06
$GC,732,1.78,487.5,2890,1712,1910,4094,40.7,12.9,109,738,0.00,1.05,0.00,0.000,1030,0.000,0.029,2891,2136,1910,1910,4094,0,0,0,0,0,0,25.72,25.70,25.75,10.10,46.77
$GC,772,1.78,487.5,2890,2136,1908,4094,35.6,12.6,115,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2136,1908,1908,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.10,46.49
$GC,812,1.78,487.5,2890,2135,1908,4094,30.8,12.1,121,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2136,1907,1907,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.10,47.32
$GC,851,1.78,487.5,2890,2135,1906,4094,26.0,12.2,127,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2136,1906,1906,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.11,48.18
$GC,891,1.78,487.5,2890,2135,1905,4094,21.3,11.5,133,897,0.00,1.12,0.00,0.000,516,0.000,0.046,2891,1711,1905,1905,4095,0,0,0,0,0,0,26.22,25.84,26.22,10.14,48.85
$GC,949,1.84,528.7,2890,1711,1904,4095,15.6,9.9,142,958,0.12,1.02,3.55,0.399,11270,0.052,0.034,2908,2124,1866,1866,4094,0,0,0,0,0,0,25.96,25.96,24.72,10.17,51.45
$GC,992,1.85,534.2,2907,2123,1865,4094,11.2,10.4,148,998,0.00,0.00,2.17,0.090,8198,0.000,0.000,2908,2124,1859,1859,4094,0,0,0,0,0,0,26.28,25.65,24.77,10.18,51.65
$GC,1032,1.86,540.3,2907,2124,1858,4094,7.0,10.4,154,1039,0.00,1.08,0.00,0.000,516,0.000,0.045,2908,1712,1858,1858,4094,0,0,0,0,0,0,26.32,25.95,26.32,10.19,52.75
$STATE,1075,end climb,FINISH_DEPTH_REACHED
$STATE,1075,begin subsurface finish
$FINISH1,1.3,1.024039,109
$GC,1087,0.16,108.8,2908,2138,1857,4094,1.3,11.8,161,1100,5.25,0.00,-4.20,0.000,20998,0.018,0.000,2391,2139,2363,2363,4095,0,0,0,0,0,0,26.13,24.63,26.17,10.20,53.07
$FINISH2,0.5
$STATE,1101,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1101,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,133835
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.26
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.91,44.566
$10V_AH,10.39,44.064
$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,23.550,14.075,61.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.526,258.154,142.255,236.748,95.407,0.000,318.538,0.000,245.537,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1252.305,1302.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330664
$DATA_FILE_SIZE,10764,163
$CAP_FILE_SIZE,29116,0
$CFSIZE,1024409600,942292992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,145833,6118.655,-17351.320,8,0.7,16,7.0,0.0,280.2,11,4.8