version: 66.13
glider: 401
mission: 22
dive: 1576
start: 8 23 117 17 31 22
data:
$ID,401
$MISSION,22
$DIVE,1576
$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,29
$R_STBD_OVSHOOT,48
$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
$GPS1,230817,171851,6118.2437,-17351.4199,4,0.8,22,7.0,0.0,338.2,11,4.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-39.4
$GPS2,230817,173042,6118.3071,-17351.3750,5,0.8,22,7.0,0.0,300.6,11,5.0
$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,169.8,26611,-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,-487.5,230,1977,1843,4092,0.0,0.0,0,21,9.02,0.00,0.00,0.000,2049,0.090,0.000,998,1978,1843,1843,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.28,51.22
$GC,25,-1.78,-487.5,998,1977,1844,4094,0.6,0.0,1,53,8.18,1.25,-11.43,0.000,18948,0.041,1.252,1763,1524,3058,3058,4094,0,0,0,0,0,0,25.92,24.29,25.99,10.28,51.10
$GC,277,-1.78,-487.5,1763,1523,3064,4094,34.0,-14.6,37,287,0.00,0.98,0.00,0.000,1030,0.000,0.026,1764,1943,3064,3064,4095,0,0,0,0,0,0,26.13,26.09,26.15,10.48,49.52
$GC,325,-1.78,-487.5,1763,1942,3066,4095,40.3,-12.9,43,334,0.00,1.10,0.00,0.000,260,0.000,0.044,1764,2363,3065,3065,4095,0,0,0,0,0,0,26.41,26.04,26.42,10.45,48.54
$GC,405,-1.78,-487.5,1763,2364,3067,4095,51.1,-13.2,54,414,0.00,0.98,0.00,0.000,1030,0.000,0.028,1764,1975,3068,3068,4094,0,0,0,0,0,0,26.21,26.18,26.22,10.42,46.92
$GC,453,-1.78,-487.5,1763,1975,3069,4094,57.3,-13.4,60,462,0.00,1.15,0.00,0.000,516,0.000,0.049,1764,1520,3069,3069,4095,0,0,0,0,0,0,26.48,26.09,26.49,10.40,46.22
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,481,-0.45,0.0,1764,2126,3070,4095,60.2,-13.6,62,517,4.55,0.00,28.38,1.302,10244,0.055,0.000,2186,2127,2484,2484,4094,0,0,0,0,0,0,26.12,25.28,24.25,10.40,46.10
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,523,1.78,487.5,2186,2126,2484,4094,63.9,0.0,66,566,7.50,0.00,28.08,1.279,11270,0.031,0.000,2892,2126,1915,1915,4094,0,0,0,0,0,0,25.56,25.72,23.87,10.27,45.35
$GC,606,1.78,487.5,2891,2126,1914,4094,57.3,12.6,76,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1913,1913,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.14,44.09
$GC,654,1.78,487.5,2891,2126,1912,4094,50.8,13.3,82,664,0.00,1.10,0.00,0.000,516,0.000,0.044,2892,1714,1912,1912,4094,0,0,0,0,0,0,25.78,25.45,25.79,10.12,44.36
$GC,754,1.78,487.5,2891,1714,1910,4094,37.8,13.0,96,763,0.00,1.02,0.00,0.000,1030,0.000,0.028,2892,2131,1909,1909,4094,0,0,0,0,0,0,25.77,25.75,25.80,10.13,45.58
$GC,802,1.78,487.5,2892,2131,1908,4094,31.8,12.6,102,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2131,1908,1908,4094,0,0,0,0,0,0,26.10,26.13,26.12,10.13,46.14
$GC,848,1.78,487.5,2891,2131,1907,4094,26.2,11.9,108,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2131,1906,1906,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.15,46.65
$GC,895,1.78,487.5,2891,2131,1905,4094,21.0,10.9,114,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2131,1905,1905,4095,0,0,0,0,0,0,26.23,26.25,26.24,10.18,48.38
$GC,942,1.93,589.0,2891,2131,1904,4095,16.7,9.0,120,953,0.43,1.17,6.60,0.623,10500,0.035,0.051,2940,2570,1795,1795,4094,0,0,0,0,0,0,26.06,25.70,24.77,10.20,49.96
$STATE,1069,end climb,FINISH_DEPTH_REACHED
$STATE,1069,begin subsurface finish
$FINISH1,1.9,1.024128,103
$GC,1081,0.15,102.6,2940,2117,1791,4094,1.9,11.0,138,1100,5.60,0.00,-5.12,0.000,20486,0.021,0.000,2392,2118,2369,2369,4094,0,0,0,0,0,0,26.08,25.41,26.12,10.21,51.65
$FINISH2,0.2
$STATE,1101,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1101,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,172350
$TT8_MAMPS,0.025466,0.251664
$HUMID,51.81
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.87,44.724
$10V_AH,10.14,44.197
$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,35.275,11.400,63.050,0.000,0.000,73.981,64.472,251.690,0.000,0.000,24.028,391.818,89.853,109.869,963.094,272.523,0.000,332.506,0.000,342.958,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,1251.540,1302.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.647,380.398,301.019,446.264,584.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,14324,140
$CAP_FILE_SIZE,28921,0
$CFSIZE,1024409600,942047232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230817,173042,6118.307,-17351.375,5,0.8,22,7.0,0.0,300.6,11,5.0