version: 66.13
glider: 401
mission: 22
dive: 1531
start: 8 22 117 22 21 57
data:
$ID,401
$MISSION,22
$DIVE,1531
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,220817,221157,6125.1885,-17349.5723,3,1.0,49,7.0,0.2,223.2,8,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-41.4
$GPS2,220817,222121,6125.1489,-17349.6250,4,0.9,17,7.0,0.0,160.0,9,4.9
$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,173.2,39242,-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,-487.5,236,1972,1869,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,2049,0.106,0.000,701,1972,1869,1869,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.26,51.45
$GC,22,-1.78,-487.5,700,1972,1869,4094,0.9,0.0,1,53,11.55,1.23,-10.95,0.000,18948,0.050,1.255,1762,1530,3055,3055,4094,0,0,0,0,0,0,25.89,24.27,25.93,10.26,50.90
$GC,226,-1.78,-487.5,1762,1530,3060,4094,23.6,-16.9,34,233,0.00,0.98,0.00,0.000,1030,0.000,0.028,1762,1941,3060,3060,4095,0,0,0,0,0,0,26.07,26.04,26.08,10.51,50.11
$GC,266,-1.78,-487.5,1762,1941,3061,4095,29.3,-13.7,40,273,0.00,1.12,0.00,0.000,260,0.000,0.044,1762,2371,3061,3061,4095,0,0,0,0,0,0,26.34,25.98,26.34,10.46,49.25
$GC,373,-1.78,-487.5,1762,2371,3064,4095,42.7,-12.8,57,379,0.00,1.00,0.00,0.000,1030,0.000,0.028,1763,1972,3064,3064,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.41,47.79
$GC,413,-1.78,-487.5,1762,1972,3064,4095,48.0,-12.9,63,420,0.00,1.15,0.00,0.000,516,0.000,0.049,1763,1519,3065,3065,4095,0,0,0,0,0,0,26.44,26.06,26.45,10.40,46.73
$GC,477,-1.78,-487.5,1762,1519,3066,4095,56.8,-13.7,73,484,0.00,1.02,0.00,0.000,1030,0.000,0.026,1763,1957,3066,3066,4095,0,0,0,0,0,0,26.24,26.22,26.25,10.38,46.61
$STATE,501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,501,begin apogee
$GC,511,-0.45,0.0,1762,2138,3067,4095,60.6,-13.6,77,547,4.57,0.00,28.27,1.314,10244,0.054,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.13,25.27,24.22,10.38,45.94
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,552,1.78,487.5,2186,2138,2484,4094,63.8,0.0,83,594,7.53,0.00,27.95,1.287,11270,0.031,0.000,2892,2139,1916,1916,4094,0,0,0,0,0,0,25.55,25.70,23.83,10.25,45.43
$GC,628,1.78,487.5,2891,2138,1915,4094,57.7,11.8,95,634,0.00,1.15,0.00,0.000,516,0.000,0.043,2892,1709,1914,1914,4094,0,0,0,0,0,0,25.52,25.23,25.53,10.12,44.56
$GC,710,1.78,487.5,2891,1709,1913,4094,47.2,12.9,108,717,0.00,1.05,0.00,0.000,1030,0.000,0.028,2892,2132,1912,1912,4095,0,0,0,0,0,0,25.60,25.57,25.62,10.11,44.95
$GC,750,1.78,487.5,2891,2132,1911,4095,42.0,12.9,114,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1911,1911,4095,0,0,0,0,0,0,25.93,25.95,25.94,10.11,45.66
$GC,790,1.78,487.5,2891,2131,1910,4095,36.7,13.1,120,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1910,1910,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.10,45.23
$GC,829,1.78,487.5,2891,2132,1909,4094,31.5,13.1,126,836,0.00,1.17,0.00,0.000,260,0.000,0.054,2892,2564,1909,1909,4094,0,0,0,0,0,0,26.08,25.70,26.09,10.10,45.86
$GC,876,1.78,487.5,2891,2564,1907,4094,25.8,11.9,133,882,0.00,1.08,0.00,0.000,1030,0.000,0.026,2892,2130,1907,1907,4094,0,0,0,0,0,0,25.91,25.89,25.94,10.10,46.96
$GC,916,1.84,527.8,2891,2129,1906,4094,21.5,9.9,139,924,0.10,0.00,3.62,0.438,10246,0.077,0.000,2908,2126,1868,1868,4094,0,0,0,0,0,0,25.98,25.56,24.63,10.13,47.95
$GC,958,1.85,534.0,2908,2126,1866,4094,17.3,10.4,145,964,0.00,0.00,1.05,0.003,8198,0.000,0.000,2908,2126,1867,1867,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.15,48.93
$GC,998,1.85,534.0,2908,2126,1866,4094,12.9,10.9,151,1005,0.00,0.00,2.15,0.084,8198,0.000,0.000,2909,2126,1860,1860,4094,0,0,0,0,0,0,26.25,25.60,24.70,10.17,50.47
$GC,1038,1.85,534.0,2908,2126,1860,4094,8.5,11.2,157,1045,0.00,1.05,0.00,0.000,516,0.000,0.046,2909,1721,1860,1860,4094,0,0,0,0,0,0,26.28,25.93,26.29,10.18,51.85
$STATE,1099,end climb,FINISH_DEPTH_REACHED
$STATE,1099,begin subsurface finish
$FINISH1,1.4,1.024001,111
$GC,1111,0.17,111.5,2908,2142,1857,4094,1.4,10.6,167,1125,5.22,1.20,-4.43,0.000,20996,0.022,1.261,2396,1720,2361,2361,4094,0,0,0,0,0,0,26.08,24.44,26.13,10.20,52.20
$FINISH2,0.2
$STATE,1127,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1127,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,210224
$TT8_MAMPS,0.025466,0.133322
$HUMID,52.79
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.83,43.376
$10V_AH,10.32,43.089
$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,34.625,14.675,63.050,0.000,0.000,22.547,19.356,295.289,0.000,0.000,18.253,446.372,271.530,145.886,562.130,275.136,0.000,330.098,0.000,255.655,0.000,0.542,0.000
$DEVICE_MAMPS,106.335,1260.720,1314.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.343,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,14220,169
$CAP_FILE_SIZE,33049,0
$CFSIZE,1024409600,944242688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,222121,6125.149,-17349.625,4,0.9,17,7.0,0.0,160.0,9,4.9