version: 66.13
glider: 401
mission: 22
dive: 1557
start: 8 23 117 9 16 56
data:
$ID,401
$MISSION,22
$DIVE,1557
$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,45
$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
$GPS1,230817,083444,6122.3652,-17349.7500,5,0.9,20,7.0,0.5,70.5,9,5.0
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.4
$GPS2,230817,083444,6122.3652,-17349.7500,5,0.9,20,7.0,0.5,70.5,9,5.0
$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,173.0,34087,-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,-487.5,2394,1977,2354,4092,0.0,0.0,0,18,5.82,0.00,0.00,0.000,4097,0.018,0.000,1819,1977,2354,2354,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.33,52.83
$GC,22,-1.78,-487.5,1819,1977,2354,4094,0.1,0.0,1,36,0.25,1.25,-6.55,0.000,20996,0.043,1.263,1787,1526,3054,3054,4094,0,0,0,0,0,0,26.12,24.49,26.13,10.33,52.71
$GC,239,-1.78,-487.5,1786,1526,3059,4094,26.2,-14.8,36,246,0.00,0.98,0.00,0.000,1030,0.000,0.027,1786,1943,3059,3059,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.46,52.44
$GC,280,-1.78,-487.5,1786,1943,3060,4094,31.4,-12.4,42,287,0.00,1.12,0.00,0.000,260,0.000,0.045,1786,2372,3060,3060,4094,0,0,0,0,0,0,26.45,26.09,26.46,10.43,51.92
$GC,344,-1.78,-487.5,1786,2372,3061,4094,39.4,-12.4,52,351,0.00,1.05,0.00,0.000,1030,0.000,0.031,1786,1948,3062,3062,4094,0,0,0,0,0,0,26.20,26.16,26.24,10.40,50.35
$GC,384,-1.78,-487.5,1785,1947,3062,4094,44.3,-12.8,58,391,0.00,1.08,0.00,0.000,516,0.000,0.053,1786,1524,3063,3063,4094,0,0,0,0,0,0,26.51,26.13,26.52,10.38,49.52
$GC,443,-1.78,-487.5,1786,1524,3064,4094,51.4,-12.3,67,449,0.00,0.95,0.00,0.000,1030,0.000,0.027,1786,1934,3064,3064,4094,0,0,0,0,0,0,26.29,26.27,26.32,10.38,49.29
$GC,483,-1.78,-487.5,1786,1933,3065,4094,56.4,-12.1,73,490,0.00,1.12,0.00,0.000,260,0.000,0.045,1786,2365,3064,3064,4095,0,0,0,0,0,0,26.55,26.18,26.56,10.37,48.42
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,513,begin apogee
$GC,523,-0.45,0.0,1786,2119,3066,4094,60.7,-12.7,78,559,4.30,0.00,28.02,1.308,10244,0.054,0.000,2185,2116,2485,2485,4094,0,0,0,0,0,0,26.20,25.35,24.32,10.36,48.50
$STATE,560,end apogee,CONTROL_FINISHED_OK
$STATE,560,begin climb
$GC,564,1.78,487.5,2185,2115,2484,4094,63.3,0.0,84,606,7.47,0.00,27.88,1.278,11270,0.031,0.000,2891,2116,1915,1915,4094,0,0,0,0,0,0,25.61,25.77,23.91,10.24,47.48
$GC,640,1.78,487.5,2890,2115,1914,4094,57.2,11.7,96,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2116,1914,1914,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.11,47.20
$GC,680,1.78,487.5,2891,2115,1913,4094,52.0,13.2,102,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2116,1913,1913,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.10,46.57
$GC,719,1.78,487.5,2890,2115,1912,4094,46.6,13.3,108,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2116,1912,1912,4094,0,0,0,0,0,0,25.86,25.89,25.88,10.10,46.96
$GC,759,1.78,487.5,2890,2115,1911,4094,41.1,14.4,114,765,0.00,1.00,0.00,0.000,516,0.000,0.046,2891,1734,1910,1910,4094,0,0,0,0,0,0,25.96,25.63,25.97,10.09,46.88
$GC,853,1.78,487.5,2891,1733,1908,4094,29.1,12.7,129,859,0.00,0.95,0.00,0.000,1030,0.000,0.030,2891,2123,1908,1908,4094,0,0,0,0,0,0,25.88,25.84,25.91,10.09,47.79
$GC,893,1.78,487.5,2891,2122,1907,4094,24.3,11.6,135,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1907,1907,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.10,48.18
$GC,933,1.81,507.5,2891,2122,1906,4094,20.1,10.2,141,940,0.00,0.00,2.55,0.218,8198,0.000,0.000,2891,2122,1891,1891,4094,0,0,0,0,0,0,26.23,25.57,24.62,10.13,49.01
$GC,973,1.81,507.5,2891,2122,1890,4094,15.6,11.5,147,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2123,1890,1890,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.15,50.47
$GC,1013,1.81,508.7,2891,2122,1889,4094,11.3,10.5,153,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2122,1889,1889,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.16,51.69
$GC,1053,1.90,568.5,2891,2122,1888,4094,7.5,9.6,159,1067,0.32,1.00,4.88,0.464,10756,0.039,0.047,2932,1738,1819,1819,4094,0,0,0,0,0,0,26.10,25.77,24.89,10.18,52.67
$STATE,1102,end climb,SURFACE_DEPTH_REACHED
$STATE,1102,begin surface coast
$FINISH,0.5,1.023991
$STATE,1115,end surface coast,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$SM_CCo,1223,0.00,0.000,0,0,1818,573.54
$SM_GC,0.54,28.17,0.50,0.00,0.021,0.036,0.000,238,1963,1818,-6.55,-1.55,573.54,0,0,0,0,0,0,26.12,26.09,26.15
$IRIDIUM_FIX,6149.06,-17422.35,230817,081904
$TT8_MAMPS,0.025466,0.11235
$HUMID,54.37
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.91,44.139
$10V_AH,10.39,43.713
$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,46.350,12.150,63.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,446.380,336.202,160.454,244.842,101.702,0.000,337.138,0.000,253.916,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1263.015,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,14296,169
$CAP_FILE_SIZE,29911,0
$CFSIZE,1024409600,942981120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,093842,6121.584,-17349.174,7,0.7,42,7.0,0.6,210.4,11,5.0