version: 66.13
glider: 401
mission: 22
dive: 1519
start: 8 22 117 17 24 55
data:
$ID,401
$MISSION,22
$DIVE,1519
$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,48
$R_STBD_OVSHOOT,59
$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
$GPS1,220817,171521,6127.7388,-17350.8789,5,0.8,18,7.0,0.2,78.1,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-43.1
$GPS2,220817,172419,6127.7695,-17350.8730,11,0.8,23,7.0,0.3,54.0,10,4.9
$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,171.7,44107,-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,-487.5,230,1993,1838,4092,0.0,0.0,0,18,5.78,0.00,0.00,0.000,2049,0.098,0.000,713,1993,1838,1838,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.24,51.81
$GC,22,-1.78,-487.5,712,1993,1838,4094,0.8,0.0,1,53,11.62,1.00,-11.30,0.000,18692,0.060,1.248,1764,2363,3058,3058,4095,0,0,0,0,0,0,25.91,24.28,25.95,10.24,51.49
$GC,268,-1.78,-487.5,1763,2363,3064,4095,32.6,-13.3,41,275,0.00,0.98,0.00,0.000,1030,0.000,0.029,1764,1978,3064,3064,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.42,49.17
$GC,309,-1.78,-487.5,1763,1977,3065,4094,38.0,-13.5,47,315,0.00,1.17,0.00,0.000,516,0.000,0.050,1764,1517,3065,3065,4095,0,0,0,0,0,0,26.38,26.01,26.39,10.40,48.42
$GC,379,-1.78,-487.5,1763,1517,3067,4095,47.1,-13.2,58,385,0.00,0.93,0.00,0.000,1030,0.000,0.026,1764,1918,3067,3067,4095,0,0,0,0,0,0,26.20,26.16,26.21,10.38,47.08
$GC,419,-1.78,-487.5,1764,1918,3068,4095,52.4,-13.0,64,426,0.00,1.17,0.00,0.000,260,0.000,0.044,1764,2368,3068,3068,4095,0,0,0,0,0,0,26.44,26.09,26.46,10.37,46.77
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,483,-0.45,0.0,1764,2112,3069,4094,60.2,-13.4,73,519,4.55,0.00,28.35,1.308,10244,0.054,0.000,2185,2111,2484,2484,4094,0,0,0,0,0,0,26.12,25.26,24.22,10.36,46.65
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,525,1.78,487.5,2185,2111,2484,4094,63.3,0.0,79,566,7.55,0.00,27.95,1.277,11270,0.031,0.000,2891,2112,1914,1914,4094,0,0,0,0,0,0,25.54,25.70,23.84,10.23,45.98
$GC,600,1.78,487.5,2891,2111,1913,4094,57.1,12.3,91,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2111,1913,1913,4094,0,0,0,0,0,0,25.52,25.53,25.53,10.11,44.76
$GC,639,1.78,487.5,2891,2111,1912,4094,52.0,13.3,97,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2111,1912,1912,4094,0,0,0,0,0,0,25.70,25.71,25.70,10.10,45.47
$GC,679,1.78,487.5,2891,2110,1911,4094,46.8,13.0,103,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2111,1911,1911,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.09,45.66
$GC,718,1.78,487.5,2890,2111,1910,4094,41.6,13.0,109,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2111,1910,1910,4094,0,0,0,0,0,0,25.92,25.93,25.93,10.09,45.90
$GC,757,1.78,487.5,2891,2111,1907,4094,36.4,13.5,115,764,0.00,0.98,0.00,0.000,516,0.000,0.047,2891,1735,1908,1908,4094,0,0,0,0,0,0,26.00,25.66,26.01,10.08,45.90
$GC,882,1.78,487.5,2891,1735,1905,4094,20.7,12.4,135,888,0.00,0.93,0.00,0.000,1030,0.000,0.030,2892,2115,1904,1904,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.10,47.95
$GC,922,1.82,514.1,2891,2115,1903,4094,16.4,10.1,141,929,0.00,0.00,2.75,0.263,8198,0.000,0.000,2891,2116,1885,1885,4094,0,0,0,0,0,0,26.22,25.58,24.66,10.13,48.89
$GC,963,1.86,542.2,2891,2115,1883,4094,12.2,10.1,147,971,0.20,0.00,3.35,0.354,10246,0.052,0.000,2919,2116,1850,1850,4094,0,0,0,0,0,0,26.02,25.63,24.76,10.15,50.78
$GC,1004,1.86,542.2,2919,2115,1850,4094,7.7,10.9,153,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2116,1849,1849,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,51.45
$GC,1043,1.86,542.2,2919,2115,1848,4094,3.3,11.6,159,1050,0.00,1.00,0.00,0.000,516,0.000,0.045,2920,1736,1848,1848,4094,0,0,0,0,0,0,26.29,25.94,26.31,10.17,52.24
$STATE,1055,end climb,FINISH_DEPTH_REACHED
$STATE,1055,begin subsurface finish
$FINISH1,1.6,1.024058,107
$GC,1067,0.16,107.5,2920,2140,1847,4094,1.6,11.1,161,1081,5.47,1.15,-4.62,0.000,20996,0.026,1.257,2394,1731,2365,2365,4094,0,0,0,0,0,0,26.05,24.44,26.10,10.17,52.59
$FINISH2,0.2
$STATE,1082,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1082,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,160857
$TT8_MAMPS,0.025466,0.159537
$HUMID,53.07
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.84,43.021
$10V_AH,10.26,42.805
$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,35.175,10.925,62.400,0.000,0.000,24.776,17.564,262.720,0.000,0.000,24.306,429.409,261.046,142.772,529.446,268.529,0.000,320.384,0.000,247.241,0.000,0.542,0.000
$DEVICE_MAMPS,97.920,1256.895,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10807,163
$CAP_FILE_SIZE,31405,0
$CFSIZE,1024409600,944848896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,220817,172419,6127.770,-17350.873,11,0.8,23,7.0,0.3,54.0,10,4.9