version: 66.13
glider: 401
mission: 22
dive: 1544
start: 8 23 117 3 49 10
data:
$ID,401
$MISSION,22
$DIVE,1544
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,230817,032804,6123.3096,-17352.9434,11,0.8,19,7.0,0.0,274.7,11,4.8
$_CALLS,6
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-4.2
$GPS2,230817,032804,6123.3096,-17352.9434,11,0.8,19,7.0,0.0,274.7,11,4.8
$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,168.4,35950,-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,-487.5,2395,1947,2356,4092,0.0,0.0,0,21,6.38,0.00,-2.53,0.000,20482,0.021,0.000,1772,1948,2680,2680,4095,0,0,0,0,0,0,26.16,28.83,26.20,10.34,52.63
$GC,26,-1.78,-487.5,1772,1947,2680,4095,0.9,0.0,1,36,0.00,1.20,-2.62,0.000,16644,0.000,1.251,1772,2369,3058,3058,4095,0,0,0,0,0,0,26.40,24.51,26.39,10.40,52.87
$GC,87,-1.78,-487.5,1771,2369,3058,4095,8.6,-15.4,9,96,0.00,1.05,0.00,0.000,1030,0.000,0.031,1772,1949,3059,3059,4095,0,0,0,0,0,0,26.04,26.01,26.08,10.49,52.40
$GC,136,-1.78,-487.5,1771,1949,3059,4095,16.4,-16.8,15,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1949,3061,3061,4095,0,0,0,0,0,0,26.36,26.39,26.38,10.49,52.28
$GC,184,-1.78,-487.5,1771,1949,3062,4095,24.4,-16.9,21,193,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1949,3062,3062,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.48,51.77
$GC,232,-1.78,-487.5,1771,1949,3063,4095,30.5,-12.5,27,242,0.00,1.08,0.00,0.000,516,0.000,0.050,1772,1523,3063,3063,4094,0,0,0,0,0,0,26.44,26.09,26.44,10.44,51.18
$GC,319,-1.78,-487.5,1771,1522,3065,4094,42.0,-13.4,39,328,0.00,1.02,0.00,0.000,1030,0.000,0.028,1772,1956,3065,3065,4094,0,0,0,0,0,0,26.25,26.20,26.26,10.40,49.37
$GC,366,-1.78,-487.5,1771,1955,3066,4094,48.2,-13.2,45,375,0.00,1.10,0.00,0.000,260,0.000,0.045,1772,2377,3066,3066,4095,0,0,0,0,0,0,26.51,26.14,26.51,10.38,48.34
$GC,421,-1.78,-487.5,1771,2377,3067,4095,55.0,-12.6,52,431,0.00,1.05,0.00,0.000,1030,0.000,0.029,1772,1957,3067,3067,4094,0,0,0,0,0,0,26.26,26.22,26.30,10.38,48.38
$STATE,458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,458,begin apogee
$GC,468,-0.45,0.0,1771,2142,3069,4094,60.4,-12.6,57,511,4.47,0.00,28.33,1.314,10244,0.054,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.18,25.32,24.30,10.37,47.20
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,516,1.78,487.5,2186,2143,2484,4094,63.9,0.0,62,561,7.50,1.10,27.98,1.289,10500,0.031,0.052,2892,2554,1916,1916,4094,0,0,0,0,0,0,25.54,25.48,23.90,10.24,46.45
$GC,573,1.95,603.6,2891,2554,1916,4094,60.9,8.8,68,592,0.52,1.08,8.12,1.016,11270,0.027,0.025,2947,2126,1781,1781,4094,0,0,0,0,0,0,25.23,25.22,23.97,10.11,45.35
$GC,632,1.95,603.6,2946,2125,1780,4094,52.9,15.0,75,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2126,1779,1779,4094,0,0,0,0,0,0,25.63,25.64,25.64,10.08,45.55
$GC,680,1.95,603.6,2946,2126,1778,4094,45.5,15.1,81,689,0.00,1.05,0.00,0.000,516,0.000,0.047,2947,1725,1778,1778,4094,0,0,0,0,0,0,25.80,25.48,25.81,10.06,45.11
$GC,761,1.95,603.6,2946,1724,1775,4094,34.5,13.7,92,771,0.00,1.00,0.00,0.000,1030,0.000,0.031,2947,2127,1775,1775,4094,0,0,0,0,0,0,25.74,25.70,25.77,10.06,45.70
$GC,810,1.95,603.6,2946,2127,1773,4094,27.6,14.0,98,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2128,1773,1773,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.07,46.57
$GC,859,1.95,603.6,2946,2127,1771,4094,21.1,12.7,104,868,0.00,1.08,0.00,0.000,516,0.000,0.047,2947,1723,1772,1772,4094,0,0,0,0,0,0,26.15,25.79,26.16,10.11,48.30
$GC,932,1.95,603.6,2946,1723,1770,4094,12.2,12.0,114,942,0.00,0.98,0.00,0.000,1030,0.000,0.030,2947,2123,1770,1770,4095,0,0,0,0,0,0,25.98,25.92,26.01,10.15,50.63
$GC,980,1.95,603.6,2946,2122,1768,4095,6.5,12.1,120,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2123,1768,1768,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.16,51.45
$STATE,1016,end climb,FINISH_DEPTH_REACHED
$STATE,1016,begin subsurface finish
$FINISH1,1.7,1.023944,115
$GC,1026,0.17,115.5,2947,2122,1767,4094,1.7,12.2,125,1045,5.68,0.00,-5.25,0.000,20486,0.024,0.000,2396,2129,2352,2352,4095,0,0,0,0,0,0,26.07,25.42,26.12,10.17,51.69
$FINISH2,0.1
$STATE,1046,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1046,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,032027
$TT8_MAMPS,0.026215,0.260652
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.90,43.760
$10V_AH,10.13,43.410
$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,24.550,13.675,64.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,365.458,0.000,121.365,529.867,89.749,0.000,348.425,0.000,311.265,0.000,0.544,0.000
$DEVICE_MAMPS,54.315,1250.775,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.247,345.092,273.086,404.842,527.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,10890,127
$CAP_FILE_SIZE,26148,0
$CFSIZE,1024409600,943620096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,032804,6123.310,-17352.943,11,0.8,19,7.0,0.0,274.7,11,4.8