version: 66.13
glider: 401
mission: 22
dive: 1577
start: 8 23 117 17 51 36
data:
$ID,401
$MISSION,22
$DIVE,1577
$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,25
$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
$GPS1,230817,173042,6118.3071,-17351.3750,5,0.8,22,7.0,0.0,300.6,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-1.3
$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,-487.5,2391,1970,2368,4092,0.0,0.0,0,18,5.95,0.00,0.00,0.000,4097,0.018,0.000,1806,1971,2368,2368,4095,0,0,0,0,0,0,26.34,28.83,28.83,10.35,51.77
$GC,22,-1.78,-487.5,1805,1970,2368,4095,0.2,0.0,1,36,0.12,1.27,-6.43,0.000,20996,0.062,1.265,1783,1513,3055,3055,4094,0,0,0,0,0,0,26.13,24.46,26.14,10.35,52.71
$GC,191,-1.78,-487.5,1783,1513,3060,4094,22.6,-15.1,28,198,0.00,1.05,0.00,0.000,1030,0.000,0.028,1783,1953,3060,3060,4095,0,0,0,0,0,0,26.14,26.12,26.16,10.51,51.53
$GC,232,-1.78,-487.5,1783,1953,3060,4095,28.1,-12.9,34,238,0.00,1.10,0.00,0.000,260,0.000,0.044,1784,2374,3062,3062,4094,0,0,0,0,0,0,26.41,26.05,26.42,10.48,51.77
$GC,296,-1.78,-487.5,1783,2374,3063,4094,36.2,-11.9,44,303,0.00,1.08,0.00,0.000,1030,0.000,0.031,1783,1943,3062,3062,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.43,51.22
$GC,337,-1.78,-487.5,1782,1943,3063,4095,41.3,-13.1,50,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1943,3063,3063,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.42,49.48
$GC,376,-1.78,-487.5,1782,1943,3064,4094,46.1,-12.1,56,383,0.00,1.08,0.00,0.000,516,0.000,0.051,1783,1519,3064,3064,4094,0,0,0,0,0,0,26.49,26.11,26.51,10.40,49.64
$GC,452,-1.78,-487.5,1783,1518,3066,4094,55.6,-12.6,68,459,0.00,1.05,0.00,0.000,1030,0.000,0.027,1783,1966,3066,3066,4095,0,0,0,0,0,0,26.29,26.26,26.33,10.38,47.59
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,499,-0.45,0.0,1783,2139,3068,4095,60.7,-12.2,74,535,4.30,0.00,28.12,1.302,10244,0.052,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.18,25.34,24.32,10.38,47.51
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,540,1.78,487.5,2184,2139,2484,4094,63.5,0.0,80,582,7.50,0.00,27.75,1.273,11270,0.030,0.000,2893,2139,1916,1916,4094,0,0,0,0,0,0,25.60,25.77,23.91,10.25,47.28
$GC,615,1.78,487.5,2892,2138,1915,4094,57.1,13.0,92,622,0.00,1.15,0.00,0.000,516,0.000,0.044,2893,1709,1914,1914,4094,0,0,0,0,0,0,25.56,25.27,25.58,10.12,45.70
$GC,698,1.78,487.5,2892,1709,1914,4094,46.1,13.4,105,705,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2123,1912,1912,4094,0,0,0,0,0,0,25.63,25.60,25.66,10.11,46.02
$GC,738,1.78,487.5,2892,2122,1911,4094,40.6,13.7,111,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1911,1911,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.10,46.06
$GC,778,1.78,487.5,2892,2122,1910,4094,35.4,12.9,117,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1910,1910,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.10,47.12
$GC,818,1.78,487.5,2892,2122,1909,4094,30.2,13.1,123,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1909,1909,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.11,47.12
$GC,857,1.78,487.5,2892,2122,1908,4094,25.6,11.3,129,864,0.00,1.08,0.00,0.000,516,0.000,0.046,2893,1716,1908,1908,4094,0,0,0,0,0,0,26.17,25.81,26.18,10.12,47.71
$GC,928,1.82,516.8,2892,1716,1906,4094,18.0,10.1,140,935,0.00,0.98,3.03,0.321,9222,0.000,0.030,2893,2117,1881,1881,4094,0,0,0,0,0,0,26.00,25.96,24.67,10.17,50.47
$GC,969,1.87,550.5,2892,2116,1880,4094,13.8,10.0,146,977,0.22,0.00,3.62,0.389,10246,0.048,0.000,2924,2117,1841,1841,4094,0,0,0,0,0,0,26.03,25.63,24.77,10.19,51.65
$GC,1011,1.87,550.5,2923,2116,1840,4094,9.0,11.8,152,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2117,1840,1840,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.19,52.28
$GC,1050,1.87,550.5,2923,2116,1838,4094,4.4,12.3,158,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2117,1838,1838,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.20,52.63
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1074,begin subsurface finish
$FINISH1,1.5,1.024131,102
$GC,1084,0.15,102.4,2924,2116,1837,4094,1.5,10.6,162,1104,5.60,1.12,-4.80,0.000,20996,0.038,1.254,2392,1711,2370,2370,4094,0,0,0,0,0,0,26.08,24.42,26.13,10.20,52.91
$FINISH2,0.1
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,172350
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.62
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.91,44.746
$10V_AH,10.39,44.208
$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,23.700,12.750,62.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,429.847,262.929,140.477,239.410,92.508,0.000,316.395,0.000,248.256,0.000,0.543,0.000
$DEVICE_MAMPS,61.965,1265.310,1302.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,10848,165
$CAP_FILE_SIZE,28187,0
$CFSIZE,1024409600,941998080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,173042,6118.307,-17351.375,5,0.8,22,7.0,0.0,300.6,11,5.0