version: 66.13
glider: 401
mission: 22
dive: 1573
start: 8 23 117 16 16 42
data:
$ID,401
$MISSION,22
$DIVE,1573
$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,20
$R_STBD_OVSHOOT,31
$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
$GPS1,230817,160045,6118.3223,-17351.6113,4,0.7,22,7.0,0.9,263.9,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-34.2
$GPS2,230817,161602,6118.4150,-17351.7207,5,1.0,50,7.0,0.4,49.0,9,5.0
$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,169.2,26830,-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,-487.5,237,1949,1803,4092,0.0,0.0,0,18,6.15,0.00,0.00,0.000,2049,0.090,0.000,760,1950,1803,1803,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.27,50.51
$GC,22,-1.78,-487.5,759,1949,1803,4094,0.6,0.0,1,53,10.80,1.23,-11.75,0.000,18948,0.045,1.267,1763,1522,3059,3059,4095,0,0,0,0,0,0,25.90,24.29,25.98,10.27,50.00
$GC,256,-1.78,-487.5,1762,1521,3064,4095,28.1,-15.0,39,263,0.00,1.00,0.00,0.000,1030,0.000,0.025,1763,1949,3064,3064,4095,0,0,0,0,0,0,26.12,26.08,26.14,10.52,49.33
$GC,297,-1.78,-487.5,1762,1949,3065,4095,33.1,-12.1,45,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3065,3065,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.48,48.58
$GC,336,-1.78,-487.5,1762,1949,3066,4095,38.4,-13.4,51,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3066,3066,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.47,48.89
$GC,376,-1.78,-487.5,1763,1949,3067,4094,43.5,-12.6,57,382,0.00,1.08,0.00,0.000,260,0.000,0.044,1763,2367,3067,3067,4094,0,0,0,0,0,0,26.44,26.07,26.45,10.45,47.36
$GC,440,-1.78,-487.5,1763,2367,3068,4094,51.8,-12.9,67,447,0.00,1.08,0.00,0.000,1030,0.000,0.030,1763,1934,3068,3068,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.42,46.41
$GC,481,-1.78,-487.5,1763,1934,3069,4094,57.1,-12.9,73,487,0.00,1.02,0.00,0.000,516,0.000,0.050,1763,1525,3069,3069,4095,0,0,0,0,0,0,26.50,26.11,26.51,10.40,45.98
$STATE,499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,499,begin apogee
$GC,510,-0.45,0.0,1763,2132,3070,4095,60.0,-13.4,76,546,4.55,0.00,28.25,1.295,10244,0.053,0.000,2186,2132,2484,2484,4094,0,0,0,0,0,0,26.13,25.29,24.26,10.40,45.55
$STATE,547,end apogee,CONTROL_FINISHED_OK
$STATE,547,begin climb
$GC,551,1.78,487.5,2186,2132,2484,4094,63.2,0.0,82,593,7.45,0.00,27.80,1.268,11270,0.030,0.000,2893,2132,1917,1917,4094,0,0,0,0,0,0,25.57,25.73,23.89,10.28,45.07
$GC,627,1.78,487.5,2892,2132,1915,4094,56.8,13.1,94,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1915,1915,4094,0,0,0,0,0,0,25.56,25.57,25.56,10.15,44.13
$GC,666,1.78,487.5,2891,2132,1914,4094,51.4,13.3,100,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1914,1914,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.14,44.25
$GC,706,1.78,487.5,2892,2132,1913,4094,46.1,13.8,106,713,0.00,1.10,0.00,0.000,516,0.000,0.044,2893,1719,1913,1913,4094,0,0,0,0,0,0,25.86,25.53,25.87,10.14,44.52
$GC,770,1.78,487.5,2892,1719,1911,4094,37.8,12.6,116,777,0.00,1.02,0.00,0.000,1030,0.000,0.028,2893,2136,1911,1911,4094,0,0,0,0,0,0,25.76,25.73,25.78,10.13,45.15
$GC,811,1.78,487.5,2892,2135,1910,4094,32.9,12.0,122,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2136,1910,1910,4095,0,0,0,0,0,0,26.08,26.09,26.09,10.13,45.66
$GC,850,1.78,487.5,2892,2136,1909,4095,27.9,12.8,128,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2136,1908,1908,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.14,46.22
$GC,890,1.78,487.5,2892,2136,1907,4094,23.1,11.9,134,896,0.00,1.10,0.00,0.000,516,0.000,0.044,2893,1718,1907,1907,4094,0,0,0,0,0,0,26.20,25.84,26.20,10.16,46.57
$GC,936,1.81,511.1,2892,1718,1906,4094,18.3,10.2,141,944,0.00,0.98,2.75,0.262,9222,0.000,0.028,2893,2121,1887,1887,4095,0,0,0,0,0,0,25.98,25.96,24.65,10.19,49.21
$GC,978,1.85,534.2,2892,2121,1886,4095,14.3,10.2,147,985,0.15,0.00,3.08,0.312,10246,0.064,0.000,2916,2122,1860,1860,4094,0,0,0,0,0,0,26.03,25.62,24.74,10.20,50.15
$GC,1020,1.85,534.2,2915,2121,1859,4094,9.5,11.6,153,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2122,1859,1859,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.20,51.22
$GC,1059,1.85,534.2,2915,2121,1857,4095,5.0,11.2,159,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2122,1857,1857,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.22,51.29
$STATE,1082,end climb,FINISH_DEPTH_REACHED
$STATE,1083,begin subsurface finish
$FINISH1,1.9,1.024082,106
$GC,1093,0.16,105.8,2916,2121,1856,4094,1.9,10.9,163,1107,5.70,0.00,-4.57,0.000,20998,0.057,0.000,2396,2122,2366,2366,4094,0,0,0,0,0,0,26.01,24.60,26.09,10.22,51.77
$FINISH2,0.1
$STATE,1108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$IRIDIUM_FIX,6144.84,-17201.19,230817,160610
$TT8_MAMPS,0.025466,0.161784
$HUMID,51.96
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.89,44.638
$10V_AH,10.28,44.116
$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,34.800,11.125,61.875,0.000,0.000,81.106,78.710,375.517,0.000,0.000,51.942,434.150,343.690,154.311,798.114,308.407,0.000,339.755,0.000,249.991,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,1266.840,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,10757,165
$CAP_FILE_SIZE,36083,0
$CFSIZE,1024409600,942178304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230817,161602,6118.415,-17351.721,5,1.0,50,7.0,0.4,49.0,9,5.0