version: 66.13
glider: 401
mission: 22
dive: 1574
start: 8 23 117 16 37 1
data:
$ID,401
$MISSION,22
$DIVE,1574
$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,22
$R_STBD_OVSHOOT,29
$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
$GPS1,230817,161602,6118.4150,-17351.7207,5,1.0,50,7.0,0.4,49.0,9,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-5.8
$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,6,begin dive
$GC,10,-1.78,-487.5,2396,1958,2366,4092,0.0,0.0,0,21,6.35,0.00,-1.15,0.000,20482,0.022,0.000,1773,1959,2490,2490,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.34,52.48
$GC,25,-1.78,-487.5,1773,1958,2490,4094,0.2,0.0,1,36,0.00,1.23,-5.25,0.000,16900,0.000,1.266,1773,1518,3056,3056,4094,0,0,0,0,0,0,26.41,24.49,26.41,10.37,52.24
$GC,229,-1.78,-487.5,1772,1517,3061,4094,26.9,-14.7,30,238,0.00,1.02,0.00,0.000,1030,0.000,0.028,1773,1953,3061,3061,4095,0,0,0,0,0,0,26.24,26.20,26.25,10.48,51.92
$GC,278,-1.78,-487.5,1772,1953,3063,4095,33.1,-12.4,36,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1953,3062,3062,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.45,51.33
$GC,326,-1.78,-487.5,1772,1954,3063,4095,39.1,-13.0,42,336,0.00,1.08,0.00,0.000,260,0.000,0.045,1773,2366,3064,3064,4095,0,0,0,0,0,0,26.53,26.14,26.53,10.42,50.19
$GC,400,-1.78,-487.5,1772,2366,3065,4095,48.6,-12.3,52,409,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1943,3066,3066,4094,0,0,0,0,0,0,26.27,26.22,26.32,10.39,48.70
$GC,447,-1.78,-487.5,1772,1942,3066,4094,54.6,-12.7,58,457,0.00,1.05,0.00,0.000,516,0.000,0.052,1773,1524,3067,3067,4095,0,0,0,0,0,0,26.58,26.18,26.58,10.38,48.18
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,502,-0.45,0.0,1772,2133,3068,4095,60.9,-13.3,64,538,4.43,0.00,28.25,1.310,10244,0.053,0.000,2185,2133,2485,2485,4095,0,0,0,0,0,0,26.22,25.37,24.33,10.38,47.40
$STATE,539,end apogee,CONTROL_FINISHED_OK
$STATE,539,begin climb
$GC,543,1.78,487.5,2185,2132,2484,4095,64.2,0.0,68,587,7.50,0.00,27.77,1.281,11270,0.031,0.000,2891,2133,1920,1920,4094,0,0,0,0,0,0,25.63,25.79,23.89,10.25,46.45
$GC,627,1.78,487.5,2891,2133,1919,4094,57.4,12.7,78,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1918,1918,4094,0,0,0,0,0,0,25.63,25.64,25.64,10.12,46.10
$GC,675,1.78,487.5,2891,2132,1917,4094,51.0,13.3,84,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2133,1917,1917,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.11,45.70
$GC,724,1.78,487.5,2891,2133,1916,4094,44.6,12.9,90,733,0.00,1.10,0.00,0.000,516,0.000,0.044,2892,1716,1916,1916,4094,0,0,0,0,0,0,25.94,25.59,25.95,10.10,45.70
$GC,817,1.78,487.5,2891,1716,1913,4094,32.4,12.2,103,826,0.00,1.02,0.00,0.000,1030,0.000,0.030,2891,2132,1913,1913,4095,0,0,0,0,0,0,25.86,25.82,25.91,10.11,46.41
$GC,866,1.78,487.5,2891,2132,1911,4095,26.4,12.9,109,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1911,1911,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.11,47.67
$GC,914,1.78,487.5,2891,2132,1911,4094,20.8,10.7,115,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1910,1910,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.16,48.50
$GC,963,1.78,487.5,2891,2132,1909,4094,15.7,10.9,121,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2133,1909,1909,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.19,50.47
$GC,1011,1.81,506.0,2891,2132,1907,4094,10.8,10.3,127,1021,0.00,1.10,2.55,0.194,8708,0.000,0.045,2892,1713,1893,1893,4095,0,0,0,0,0,0,26.33,25.35,24.75,10.20,51.18
$STATE,1094,end climb,FINISH_DEPTH_REACHED
$STATE,1095,begin subsurface finish
$FINISH1,1.6,1.024105,104
$GC,1106,0.16,104.2,2892,2140,1890,4094,1.6,8.4,139,1126,5.10,1.20,-4.30,0.000,20996,0.022,1.257,2390,1714,2365,2365,4095,0,0,0,0,0,0,26.15,24.49,26.19,10.21,52.32
$FINISH2,0.1
$STATE,1127,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1127,begin surface
$IRIDIUM_FIX,6144.84,-17201.19,230817,160610
$TT8_MAMPS,0.026215,0.255409
$HUMID,52.59
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.89,44.660
$10V_AH,10.14,44.147
$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,23.375,12.875,58.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,400.429,0.000,108.025,589.575,88.726,0.000,327.330,0.000,343.549,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1266.075,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.384,383.067,303.178,449.745,587.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330648
$DATA_FILE_SIZE,14399,141
$CAP_FILE_SIZE,24433,0
$CFSIZE,1024409600,942145536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,161602,6118.415,-17351.721,5,1.0,50,7.0,0.4,49.0,9,5.0