version: 66.13
glider: 401
mission: 22
dive: 1535
start: 8 22 117 23 54 58
data:
$ID,401
$MISSION,22
$DIVE,1535
$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,27
$R_STBD_OVSHOOT,60
$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
$GPS1,220817,233335,6124.3140,-17350.2637,9,0.8,18,7.0,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.8
$GPS2,220817,233335,6124.3140,-17350.2637,9,0.8,18,7.0,0.0,0.0,11,5.0
$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,172.3,37698,-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,-487.5,2394,1994,2354,4092,0.0,0.0,0,18,6.18,0.00,0.00,0.000,4097,0.026,0.000,1798,1995,2354,2354,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.32,53.42
$GC,22,-1.78,-487.5,1797,1995,2354,4094,0.1,0.0,1,35,0.00,1.27,-6.57,0.000,16900,0.000,1.260,1798,1521,3056,3056,4095,0,0,0,0,0,0,26.32,24.47,26.33,10.33,52.28
$GC,165,-1.78,-487.5,1797,1521,3060,4095,18.2,-14.8,24,172,0.00,0.95,0.00,0.000,1030,0.000,0.027,1797,1929,3060,3060,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.48,52.04
$GC,205,-1.78,-487.5,1797,1928,3061,4094,24.1,-15.0,30,212,0.00,1.15,0.00,0.000,260,0.000,0.047,1798,2363,3061,3061,4095,0,0,0,0,0,0,26.39,26.02,26.39,10.48,52.12
$GC,359,-1.78,-487.5,1797,2363,3064,4095,42.6,-11.5,55,366,0.00,0.98,0.00,0.000,1030,0.000,0.030,1798,1977,3064,3064,4094,0,0,0,0,0,0,26.22,26.19,26.25,10.38,49.25
$GC,400,-1.78,-487.5,1796,1977,3065,4094,47.2,-11.5,61,406,0.00,1.17,0.00,0.000,516,0.000,0.052,1798,1517,3065,3065,4095,0,0,0,0,0,0,26.49,26.11,26.51,10.38,48.46
$GC,476,-1.78,-487.5,1797,1517,3067,4095,56.7,-12.4,73,482,0.00,1.05,0.00,0.000,1030,0.000,0.028,1798,1964,3068,3068,4094,0,0,0,0,0,0,26.29,26.27,26.31,10.36,47.83
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,500,begin apogee
$GC,510,-0.45,0.0,1797,2136,3068,4094,60.1,-12.2,77,546,4.15,0.00,28.17,1.306,10244,0.053,0.000,2184,2137,2484,2484,4094,0,0,0,0,0,0,26.18,25.32,24.28,10.36,47.32
$STATE,547,end apogee,CONTROL_FINISHED_OK
$STATE,547,begin climb
$GC,551,1.78,487.5,2184,2137,2484,4094,63.0,0.0,83,593,7.50,0.00,27.85,1.279,11270,0.031,0.000,2891,2137,1916,1916,4094,0,0,0,0,0,0,25.59,25.75,23.88,10.23,47.48
$GC,627,1.78,487.5,2890,2137,1915,4094,57.2,11.8,95,633,0.00,1.15,0.00,0.000,516,0.000,0.046,2890,1710,1915,1915,4095,0,0,0,0,0,0,25.55,25.25,25.56,10.09,46.41
$GC,715,1.78,487.5,2890,1710,1913,4095,45.7,13.2,109,722,0.00,1.02,0.00,0.000,1030,0.000,0.029,2891,2123,1913,1913,4095,0,0,0,0,0,0,25.63,25.60,25.66,10.08,46.33
$GC,756,1.78,487.5,2890,2123,1912,4095,40.5,13.0,115,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1911,1911,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.08,46.61
$GC,795,1.78,487.5,2890,2123,1910,4094,35.5,12.4,121,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2123,1911,1911,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.08,47.48
$GC,835,1.78,487.5,2890,2123,1909,4094,30.6,12.2,127,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2123,1909,1909,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.07,47.32
$GC,874,1.78,487.5,2890,2123,1908,4094,25.7,12.4,133,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2123,1908,1908,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.08,47.87
$GC,914,1.78,492.0,2890,2123,1907,4094,21.4,10.5,139,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1907,1907,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.11,48.34
$GC,953,1.79,493.4,2890,2123,1906,4094,17.5,10.5,145,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1906,1906,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.14,50.39
$GC,993,1.79,493.4,2890,2123,1905,4094,13.2,10.6,151,999,0.00,1.10,0.00,0.000,516,0.000,0.047,2890,1708,1905,1905,4094,0,0,0,0,0,0,26.28,25.92,26.29,10.16,51.49
$STATE,1101,end climb,FINISH_DEPTH_REACHED
$STATE,1101,begin subsurface finish
$FINISH1,1.7,1.023990,112
$GC,1113,0.17,112.2,2890,2142,1902,4094,1.7,10.3,169,1126,5.20,0.00,-4.07,0.000,20486,0.038,0.000,2393,2143,2359,2359,4094,0,0,0,0,0,0,26.13,24.67,26.17,10.19,54.05
$FINISH2,0.2
$STATE,1127,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1128,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,221519
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.93
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.88,43.482
$10V_AH,10.37,43.181
$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,23.025,11.925,56.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,441.677,288.298,129.707,247.742,80.331,0.000,303.978,0.000,256.833,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1259.955,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,14221,171
$CAP_FILE_SIZE,26298,0
$CFSIZE,1024409600,944062464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,233335,6124.314,-17350.264,9,0.8,18,7.0,0.0,0.0,11,5.0