version: 66.13
glider: 401
mission: 22
dive: 1549
start: 8 23 117 5 52 26
data:
$ID,401
$MISSION,22
$DIVE,1549
$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,21
$R_STBD_OVSHOOT,31
$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
$GPS1,230817,054303,6123.1387,-17352.1328,7,0.8,13,7.0,0.0,56.5,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-40.6
$GPS2,230817,055149,6123.2104,-17352.0566,8,0.8,15,7.0,0.0,10.4,11,4.5
$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,169.7,35712,-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,-487.5,229,1976,1874,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,2049,0.101,0.000,703,1974,1875,1875,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.27,51.37
$GC,22,-1.78,-487.5,703,1974,1875,4094,0.8,0.0,1,53,11.52,1.27,-10.98,0.000,18948,0.051,1.256,1761,1518,3055,3055,4094,0,0,0,0,0,0,25.89,24.30,25.94,10.27,51.33
$GC,208,-1.78,-487.5,1760,1518,3059,4094,24.2,-16.7,31,215,0.00,1.02,0.00,0.000,1030,0.000,0.027,1760,1952,3060,3060,4095,0,0,0,0,0,0,26.08,26.05,26.09,10.52,50.23
$GC,249,-1.78,-487.5,1759,1952,3061,4095,29.7,-13.5,37,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1952,3060,3060,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.48,50.07
$GC,288,-1.78,-487.5,1760,1953,3061,4094,34.8,-12.7,43,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3061,3061,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.45,49.84
$GC,328,-1.78,-487.5,1760,1953,3062,4094,40.0,-13.4,49,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1953,3062,3062,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.43,48.30
$GC,367,-1.78,-487.5,1760,1953,3063,4095,45.4,-13.7,55,374,0.00,1.10,0.00,0.000,260,0.000,0.046,1761,2372,3064,3064,4094,0,0,0,0,0,0,26.43,26.06,26.44,10.42,48.18
$GC,407,-1.78,-487.5,1760,2372,3065,4094,50.8,-13.4,61,414,0.00,1.08,0.00,0.000,1030,0.000,0.029,1760,1938,3064,3064,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.40,47.00
$GC,448,-1.78,-487.5,1760,1937,3065,4095,55.9,-12.9,67,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1938,3066,3066,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.39,46.41
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,487,-0.45,0.0,1761,2140,3066,4095,60.4,-13.6,72,523,4.57,0.00,28.10,1.307,10244,0.054,0.000,2185,2140,2484,2484,4095,0,0,0,0,0,0,26.12,25.27,24.23,10.38,45.86
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,529,1.78,487.5,2185,2140,2484,4095,63.6,0.0,78,570,7.43,0.00,27.88,1.284,11270,0.031,0.000,2891,2140,1915,1915,4094,0,0,0,0,0,0,25.56,25.71,23.86,10.26,45.58
$GC,603,1.78,487.5,2890,2140,1915,4094,58.1,12.0,89,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2140,1915,1915,4094,0,0,0,0,0,0,25.53,25.55,25.55,10.13,44.40
$GC,643,1.78,487.5,2890,2140,1914,4094,52.9,13.3,95,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2140,1913,1913,4094,0,0,0,0,0,0,25.72,25.73,25.72,10.12,44.72
$GC,682,1.78,487.5,2890,2140,1912,4094,47.6,13.2,101,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2140,1912,1912,4094,0,0,0,0,0,0,25.84,25.86,25.85,10.12,45.31
$GC,722,1.78,487.5,2890,2140,1911,4094,42.6,12.1,107,728,0.00,1.12,0.00,0.000,516,0.000,0.045,2891,1714,1911,1911,4094,0,0,0,0,0,0,25.94,25.59,25.95,10.11,45.27
$GC,810,1.78,487.5,2890,1713,1909,4094,31.8,12.4,121,817,0.00,1.00,0.00,0.000,1030,0.000,0.029,2891,2122,1909,1909,4094,0,0,0,0,0,0,25.85,25.82,25.88,10.11,46.29
$GC,852,1.78,487.5,2890,2122,1907,4094,26.6,12.7,127,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2122,1907,1907,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,46.69
$GC,892,1.78,487.5,2890,2122,1906,4094,21.8,11.9,133,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2122,1906,1906,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,47.91
$GC,931,1.84,527.0,2890,2121,1905,4094,17.7,9.9,139,940,0.10,1.08,3.53,0.402,10756,0.078,0.045,2908,1715,1870,1870,4094,0,0,0,0,0,0,26.05,25.69,24.70,10.17,48.74
$GC,1027,1.84,527.0,2907,1714,1866,4094,7.8,10.5,154,1034,0.00,1.00,0.00,0.000,1030,0.000,0.029,2908,2127,1866,1866,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.19,52.12
$GC,1068,1.85,534.5,2908,2126,1865,4094,3.7,10.4,160,1075,0.00,0.00,2.15,0.075,8198,0.000,0.000,2908,2127,1860,1860,4094,0,0,0,0,0,0,26.34,25.69,24.85,10.20,52.04
$STATE,1080,end climb,FINISH_DEPTH_REACHED
$STATE,1080,begin subsurface finish
$FINISH1,1.9,1.023939,116
$GC,1091,0.17,115.8,2908,2126,1858,4094,1.9,10.8,162,1104,5.43,0.00,-4.30,0.000,20486,0.044,0.000,2394,2127,2355,2355,4094,0,0,0,0,0,0,26.12,24.64,26.16,10.21,52.48
$FINISH2,0.3
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,043319
$TT8_MAMPS,0.025466,0.134071
$HUMID,53.18
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.86,43.904
$10V_AH,10.33,43.521
$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,34.725,9.175,61.650,0.000,0.000,22.288,15.856,265.864,0.000,0.000,17.103,434.524,253.612,150.044,515.353,288.131,0.000,337.988,0.000,248.708,0.000,0.542,0.000
$DEVICE_MAMPS,100.980,1256.130,1307.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,10835,164
$CAP_FILE_SIZE,33486,0
$CFSIZE,1024409600,943357952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,529.36,0x236162,1,24
$GPS,230817,055149,6123.210,-17352.057,8,0.8,15,7.0,0.0,10.4,11,4.5