version: 66.13
glider: 401
mission: 22
dive: 1547
start: 8 23 117 5 0 27
data:
$ID,401
$MISSION,22
$DIVE,1547
$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,27
$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
$GPS1,230817,043902,6123.2773,-17352.8184,5,0.8,26,7.0,0.3,29.9,11,4.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.9
$GPS2,230817,043902,6123.2773,-17352.8184,5,0.8,26,7.0,0.3,29.9,11,4.4
$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,168.6,35882,-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,-487.5,2394,1946,2347,4092,0.0,0.0,0,18,5.78,0.00,0.00,0.000,4097,0.022,0.000,1826,1946,2347,2347,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.34,51.89
$GC,22,-1.78,-487.5,1826,1946,2347,4094,0.1,0.0,1,36,0.32,1.23,-6.65,0.000,20996,0.042,1.270,1788,1513,3057,3057,4095,0,0,0,0,0,0,26.10,24.49,26.12,10.34,51.81
$GC,173,-1.78,-487.5,1787,1512,3061,4095,20.2,-15.6,25,179,0.00,1.05,0.00,0.000,1030,0.000,0.028,1788,1948,3060,3060,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.50,51.77
$GC,213,-1.78,-487.5,1787,1948,3062,4095,26.7,-15.5,31,220,0.00,1.12,0.00,0.000,260,0.000,0.046,1788,2377,3062,3062,4095,0,0,0,0,0,0,26.41,26.06,26.42,10.48,51.65
$GC,265,-1.78,-487.5,1787,2377,3063,4095,33.2,-12.1,39,272,0.00,1.05,0.00,0.000,1030,0.000,0.030,1788,1956,3064,3064,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.44,51.69
$GC,306,-1.78,-487.5,1787,1955,3064,4095,38.0,-12.2,45,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1956,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.42,50.27
$GC,345,-1.78,-487.5,1787,1955,3065,4094,42.5,-11.6,51,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1955,3065,3065,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.41,49.25
$GC,385,-1.78,-487.5,1787,1955,3066,4094,47.5,-13.2,57,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1956,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.38,48.50
$GC,424,-1.78,-487.5,1787,1956,3067,4094,52.3,-11.9,63,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1956,3067,3067,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.38,48.30
$GC,463,-1.78,-487.5,1787,1955,3068,4095,57.0,-12.3,69,469,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1956,3068,3068,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.37,47.40
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,497,-0.45,0.0,1788,2146,3069,4095,60.3,-11.7,73,533,4.28,0.00,28.15,1.314,10244,0.054,0.000,2186,2147,2484,2484,4094,0,0,0,0,0,0,26.19,25.33,24.30,10.37,47.32
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,538,1.78,487.5,2186,2146,2484,4094,63.1,0.0,79,580,7.50,0.00,27.77,1.284,11270,0.031,0.000,2891,2147,1917,1917,4094,0,0,0,0,0,0,25.59,25.76,23.89,10.24,46.65
$GC,614,1.78,487.5,2890,2146,1916,4094,57.2,12.4,91,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2147,1916,1916,4094,0,0,0,0,0,0,25.56,25.57,25.57,10.11,45.35
$GC,653,1.78,487.5,2890,2146,1914,4094,51.9,13.0,97,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2146,1915,1915,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.10,45.47
$GC,693,1.78,487.5,2890,2146,1914,4094,46.7,13.6,103,699,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1716,1914,1914,4094,0,0,0,0,0,0,25.85,25.53,25.86,10.09,46.25
$GC,793,1.78,487.5,2889,1716,1911,4094,34.5,12.4,119,800,0.00,1.00,0.00,0.000,1030,0.000,0.029,2891,2123,1911,1911,4095,0,0,0,0,0,0,25.82,25.79,25.85,10.09,46.88
$GC,833,1.78,487.5,2890,2122,1910,4095,29.6,12.1,125,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1910,1910,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.09,47.63
$GC,873,1.78,487.5,2890,2122,1908,4094,24.9,11.1,131,879,0.00,1.08,0.00,0.000,516,0.000,0.046,2891,1717,1908,1908,4094,0,0,0,0,0,0,26.18,25.83,26.20,10.11,47.95
$GC,961,1.85,533.9,2890,1717,1907,4094,16.0,9.8,145,970,0.17,1.00,3.92,0.444,11270,0.044,0.028,2914,2127,1861,1861,4094,0,0,0,0,0,0,26.01,26.00,24.76,10.17,50.70
$GC,1004,1.85,533.9,2913,2127,1860,4094,11.5,11.1,151,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2127,1860,1860,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.18,51.61
$GC,1043,1.85,533.9,2913,2127,1859,4094,7.3,10.6,157,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2127,1858,1858,4095,0,0,0,0,0,0,26.31,26.33,26.32,10.18,52.20
$GC,1082,1.85,533.9,2913,2127,1857,4095,2.9,11.4,163,1089,0.00,1.10,0.00,0.000,516,0.000,0.045,2914,1709,1857,1857,4094,0,0,0,0,0,0,26.34,25.97,26.36,10.19,52.75
$STATE,1094,end climb,FINISH_DEPTH_REACHED
$STATE,1094,begin subsurface finish
$FINISH1,1.2,1.023938,116
$GC,1106,0.17,115.8,2914,2151,1857,4094,1.2,11.2,165,1119,5.32,0.00,-4.43,0.000,20998,0.023,0.000,2401,2151,2355,2355,4094,0,0,0,0,0,0,26.08,24.66,26.14,10.20,53.22
$FINISH2,0.2
$STATE,1120,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1121,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,032204
$TT8_MAMPS,0.024717,0.103362
$HUMID,53.50
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.89,43.843
$10V_AH,10.39,43.470
$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,23.375,11.850,59.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.596,260.441,144.344,242.866,97.494,0.000,325.253,0.000,251.234,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1269.900,1314.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10803,167
$CAP_FILE_SIZE,29349,0
$CFSIZE,1024409600,943472640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,043902,6123.277,-17352.818,5,0.8,26,7.0,0.3,29.9,11,4.4