version: 66.13
glider: 401
mission: 22
dive: 1558
start: 8 23 117 9 50 7
data:
$ID,401
$MISSION,22
$DIVE,1558
$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,51
$R_STBD_OVSHOOT,41
$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
$GPS1,230817,093842,6121.5845,-17349.1738,7,0.7,42,7.0,0.6,210.4,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-37.3
$GPS2,230817,094931,6121.5415,-17349.1484,8,1.1,53,7.0,0.2,57.8,8,3.1
$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,173.9,32565,-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,-487.5,238,1963,1817,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.093,0.000,957,1963,1817,1817,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.26,51.53
$GC,25,-1.78,-487.5,957,1963,1818,4094,0.7,0.0,1,53,8.57,1.12,-11.55,0.000,18948,0.037,1.253,1764,1544,3054,3054,4094,0,0,0,0,0,0,25.95,24.32,26.02,10.27,51.49
$GC,251,-1.78,-487.5,1764,1543,3060,4094,28.4,-14.9,33,261,0.00,0.93,0.00,0.000,1030,0.000,0.026,1764,1943,3060,3060,4094,0,0,0,0,0,0,26.14,26.10,26.16,10.49,50.07
$GC,299,-1.78,-487.5,1764,1943,3061,4094,34.6,-13.2,39,309,0.00,1.10,0.00,0.000,260,0.000,0.044,1765,2365,3061,3061,4095,0,0,0,0,0,0,26.41,26.05,26.42,10.46,49.21
$GC,360,-1.78,-487.5,1764,2364,3062,4095,42.6,-12.6,47,369,0.00,0.95,0.00,0.000,1030,0.000,0.028,1765,1983,3063,3063,4095,0,0,0,0,0,0,26.20,26.21,26.23,10.42,47.83
$GC,409,-1.78,-487.5,1764,1983,3064,4095,48.6,-13.0,53,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1983,3065,3065,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.41,46.96
$GC,457,-1.78,-487.5,1764,1983,3065,4094,55.1,-13.8,59,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1983,3065,3065,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.39,46.06
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,502,-0.45,0.0,1765,2140,3066,4094,60.7,-13.6,64,537,4.53,0.00,28.20,1.307,10244,0.054,0.000,2186,2140,2482,2482,4094,0,0,0,0,0,0,26.15,25.29,24.27,10.39,45.43
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,539,begin climb
$GC,543,1.78,487.5,2186,2140,2484,4094,64.2,0.0,68,588,7.50,1.10,28.05,1.278,10500,0.030,0.050,2892,2552,1913,1913,4094,0,0,0,0,0,0,25.50,25.44,23.87,10.26,45.47
$GC,606,1.78,487.5,2892,2552,1913,4094,60.0,10.9,75,616,0.00,1.08,0.00,0.000,1030,0.000,0.025,2893,2131,1913,1913,4094,0,0,0,0,0,0,25.28,25.26,25.30,10.14,44.29
$GC,655,1.78,487.5,2892,2130,1911,4094,53.7,13.2,81,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,1911,1911,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.13,44.99
$GC,704,1.78,487.5,2892,2130,1910,4094,47.4,13.4,87,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2130,1910,1910,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.12,44.60
$GC,751,1.78,487.5,2892,2130,1909,4094,41.1,13.2,93,759,0.00,1.08,0.00,0.000,516,0.000,0.046,2893,1716,1908,1908,4094,0,0,0,0,0,0,25.98,25.63,26.00,10.12,45.11
$GC,832,1.78,487.5,2892,1715,1907,4094,30.7,13.0,104,842,0.00,1.02,0.03,0.005,9222,0.000,0.028,2893,2132,1906,1906,4094,0,0,0,0,0,0,25.87,25.88,25.89,10.11,46.41
$GC,882,1.78,487.5,2892,2132,1905,4094,24.5,12.4,110,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1905,1905,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,46.53
$GC,930,1.78,487.5,2892,2132,1903,4094,18.9,11.5,116,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1903,1903,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.16,47.91
$GC,978,1.78,487.5,2892,2132,1902,4094,13.5,11.2,122,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1902,1902,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,49.76
$GC,1026,1.88,558.8,2892,2132,1901,4094,8.7,9.5,128,1038,0.28,1.10,4.88,0.471,10756,0.042,0.045,2930,1713,1831,1831,4094,0,0,0,0,0,0,26.10,25.77,24.89,10.21,51.33
$STATE,1085,end climb,FINISH_DEPTH_REACHED
$STATE,1085,begin subsurface finish
$FINISH1,1.6,1.023995,112
$GC,1097,0.17,111.9,2929,2141,1830,4094,1.6,11.6,136,1115,5.50,0.00,-4.70,0.000,20486,0.023,0.000,2394,2150,2351,2351,4094,0,0,0,0,0,0,26.08,25.44,26.13,10.20,51.85
$FINISH2,0.1
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1117,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,230817,094202
$TT8_MAMPS,0.025466,0.252413
$HUMID,52.08
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.87,44.180
$10V_AH,10.14,43.753
$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,34.850,10.925,61.150,0.000,0.000,52.753,40.040,253.201,0.000,0.000,55.137,400.833,44.896,118.945,939.179,273.366,0.000,353.166,0.000,338.217,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,1253.070,1307.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.157,374.965,296.758,439.872,573.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14317,138
$CAP_FILE_SIZE,30961,0
$CFSIZE,1024409600,942931968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,230817,094931,6121.542,-17349.148,8,1.1,53,7.0,0.2,57.8,8,3.1