version: 66.13
glider: 401
mission: 22
dive: 1550
start: 8 23 117 6 12 42
data:
$ID,401
$MISSION,22
$DIVE,1550
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,230817,055149,6123.2104,-17352.0566,8,0.8,15,7.0,0.0,10.4,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-3.6
$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,-487.5,2393,1943,2354,4093,0.0,0.0,0,21,6.38,0.00,-2.08,0.000,20482,0.023,0.000,1772,1943,2576,2576,4095,0,0,0,0,0,0,26.15,28.83,26.20,10.33,53.15
$GC,26,-1.78,-487.5,1772,1943,2576,4095,0.0,0.0,1,36,0.00,1.10,-4.07,0.000,16900,0.000,1.265,1772,1525,3053,3053,4094,0,0,0,0,0,0,26.40,24.49,26.41,10.38,53.42
$GC,195,-1.78,-487.5,1771,1525,3058,4094,25.4,-16.8,25,204,0.00,1.00,0.00,0.000,1030,0.000,0.028,1772,1952,3059,3059,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.47,52.52
$GC,242,-1.78,-487.5,1771,1952,3060,4094,32.3,-13.4,31,252,0.00,1.10,0.00,0.000,260,0.000,0.045,1772,2371,3060,3060,4095,0,0,0,0,0,0,26.46,26.10,26.47,10.43,52.04
$GC,296,-1.78,-487.5,1771,2371,3061,4095,39.7,-13.6,38,306,0.00,1.05,0.00,0.000,1030,0.000,0.031,1772,1948,3062,3062,4095,0,0,0,0,0,0,26.19,26.16,26.22,10.40,50.15
$GC,344,-1.78,-487.5,1772,1948,3062,4095,46.2,-13.9,44,354,0.00,1.05,0.00,0.000,516,0.000,0.050,1772,1529,3063,3063,4095,0,0,0,0,0,0,26.51,26.13,26.52,10.38,49.68
$GC,431,-1.78,-487.5,1772,1529,3065,4095,57.8,-13.3,56,439,0.00,0.98,0.00,0.000,1030,0.000,0.026,1772,1952,3065,3065,4095,0,0,0,0,0,0,26.31,26.28,26.35,10.37,47.75
$STATE,448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,448,begin apogee
$GC,458,-0.45,0.0,1772,2142,3065,4095,60.4,-13.1,58,494,4.45,0.00,28.17,1.310,10244,0.054,0.000,2185,2143,2484,2484,4094,0,0,0,0,0,0,26.19,25.34,24.30,10.37,48.07
$STATE,495,end apogee,CONTROL_FINISHED_OK
$STATE,495,begin climb
$GC,500,1.78,487.5,2185,2142,2484,4094,63.7,0.0,62,545,7.50,1.12,27.98,1.279,10756,0.030,0.041,2894,1711,1914,1914,4094,0,0,0,0,0,0,25.54,25.48,23.89,10.23,47.24
$GC,596,1.78,487.5,2894,1710,1913,4094,54.9,13.6,74,606,0.00,1.05,0.00,0.000,1030,0.000,0.029,2894,2130,1912,1912,4094,0,0,0,0,0,0,25.44,25.41,25.48,10.10,46.06
$GC,645,1.78,487.5,2894,2130,1911,4094,48.4,14.0,80,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2130,1911,1911,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.09,45.55
$GC,694,1.78,487.5,2894,2130,1910,4094,42.1,12.7,86,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2130,1910,1910,4094,0,0,0,0,0,0,25.96,25.96,25.96,10.09,46.53
$GC,742,1.78,487.5,2894,2130,1908,4094,35.9,12.6,92,752,0.00,1.10,0.00,0.000,516,0.000,0.044,2894,1716,1908,1908,4094,0,0,0,0,0,0,26.05,25.70,26.06,10.09,46.57
$GC,835,1.78,487.5,2894,1716,1906,4094,24.3,12.1,105,845,0.00,1.02,0.00,0.000,1030,0.000,0.029,2894,2134,1905,1905,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.11,47.75
$GC,884,1.78,487.5,2894,2133,1905,4094,19.0,11.1,111,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2133,1904,1904,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.15,49.33
$GC,933,1.78,487.5,2894,2133,1903,4094,13.7,10.9,117,942,0.00,1.08,0.00,0.000,516,0.000,0.045,2894,1720,1903,1903,4094,0,0,0,0,0,0,26.29,25.93,26.30,10.17,50.63
$GC,1047,1.78,487.5,2893,1719,1900,4094,2.0,10.6,133,1056,0.00,0.95,0.00,0.000,1030,0.000,0.030,2894,2111,1900,1900,4094,0,0,0,0,0,0,26.12,26.09,26.15,10.20,52.36
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,0.1,1.023928,117
$GC,1074,0.17,116.5,2894,2118,1900,4094,0.1,9.2,135,1092,4.95,0.00,-4.07,0.000,20486,0.022,0.000,2409,2120,2350,2350,4094,0,0,0,0,0,0,26.17,25.47,26.20,10.21,52.71
$FINISH2,0.1
$STATE,1093,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1093,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,043319
$TT8_MAMPS,0.026215,0.245672
$HUMID,53.03
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.89,43.925
$10V_AH,10.15,43.551
$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,23.275,13.500,56.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,387.098,0.000,106.026,572.656,87.018,0.000,323.173,0.000,333.987,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1264.545,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.732,372.247,294.600,436.944,571.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,14412,137
$CAP_FILE_SIZE,24342,0
$CFSIZE,1024409600,943325184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,055149,6123.210,-17352.057,8,0.8,15,7.0,0.0,10.4,11,4.5