version: 66.13
glider: 401
mission: 22
dive: 1597
start: 8 24 117 2 27 48
data:
$ID,401
$MISSION,22
$DIVE,1597
$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,27
$R_STBD_OVSHOOT,40
$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
$GPS1,240817,021302,6114.4146,-17352.5234,5,0.9,17,7.0,0.0,191.9,9,4.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.5
$GPS2,240817,022712,6114.4424,-17352.9785,6,0.8,22,7.0,0.7,311.4,11,4.8
$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,164.5,19629,-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,6,begin dive
$GC,10,-1.78,-487.5,237,1973,1906,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,2049,0.093,0.000,709,1971,1906,1906,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.29,51.29
$GC,23,-1.78,-487.5,709,1973,1906,4094,0.7,0.0,1,53,11.35,1.10,-10.75,0.000,19204,0.046,1.245,1764,2358,3057,3057,4095,0,0,0,0,0,0,25.91,24.24,25.98,10.29,50.98
$GC,69,-1.78,-487.5,1763,2359,3057,4095,0.0,-0.0,8,76,0.00,1.05,0.00,0.000,1030,0.000,0.032,1764,1949,3057,3057,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.54,51.41
$GC,110,-1.78,-487.5,1763,1949,3058,4094,4.0,-13.6,14,116,0.00,1.10,0.00,0.000,516,0.000,0.047,1764,1516,3058,3058,4094,0,0,0,0,0,0,26.18,25.82,26.19,10.54,51.10
$GC,303,-1.78,-487.5,1763,1516,3063,4094,32.0,-13.5,45,310,0.00,1.05,0.00,0.000,1030,0.000,0.026,1764,1962,3064,3064,4094,0,0,0,0,0,0,26.14,26.11,26.16,10.48,49.68
$GC,344,-1.78,-487.5,1764,1962,3065,4094,37.9,-14.0,51,351,0.00,1.08,0.00,0.000,260,0.000,0.044,1764,2373,3064,3064,4094,0,0,0,0,0,0,26.41,26.04,26.42,10.47,49.17
$GC,402,-1.78,-487.5,1763,2373,3066,4094,45.9,-13.3,60,409,0.00,1.00,0.00,0.000,1030,0.000,0.028,1764,1975,3066,3066,4095,0,0,0,0,0,0,26.20,26.16,26.22,10.44,47.48
$GC,443,-1.78,-487.5,1764,1975,3066,4095,51.2,-13.1,66,449,0.00,1.15,0.00,0.000,516,0.000,0.049,1764,1520,3067,3067,4095,0,0,0,0,0,0,26.47,26.08,26.48,10.43,47.67
$STATE,503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,503,begin apogee
$GC,514,-0.45,0.0,1764,2135,3069,4095,60.5,-14.3,76,550,4.53,0.00,28.20,1.333,10244,0.054,0.000,2186,2135,2484,2484,4095,0,0,0,0,0,0,26.13,25.27,24.23,10.40,46.14
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,556,1.78,487.5,2186,2135,2484,4095,63.9,0.0,82,597,7.47,0.00,27.83,1.296,11270,0.029,0.000,2892,2135,1915,1915,4094,0,0,0,0,0,0,25.56,25.72,23.86,10.28,45.58
$GC,631,1.78,487.5,2892,2134,1915,4094,57.4,12.8,94,638,0.00,1.12,0.00,0.000,516,0.000,0.043,2893,1712,1915,1915,4094,0,0,0,0,0,0,25.55,25.26,25.56,10.15,44.92
$GC,702,1.78,487.5,2892,1711,1913,4094,47.9,13.6,105,708,0.00,1.05,0.00,0.000,1030,0.000,0.029,2893,2133,1913,1913,4094,0,0,0,0,0,0,25.59,25.56,25.61,10.14,45.43
$GC,742,1.78,487.5,2892,2132,1911,4094,42.2,14.0,111,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1911,1911,4094,0,0,0,0,0,0,25.94,25.95,25.95,10.14,45.86
$GC,782,1.78,487.5,2892,2133,1909,4094,36.7,13.9,117,788,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1709,1910,1910,4094,0,0,0,0,0,0,26.02,25.67,26.03,10.14,46.02
$GC,852,1.78,487.5,2892,1708,1908,4094,27.7,12.7,128,859,0.00,1.00,0.00,0.000,1030,0.000,0.028,2892,2119,1908,1908,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.14,47.16
$GC,893,1.78,487.5,2892,2118,1907,4094,22.8,11.5,134,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2118,1907,1907,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.16,47.32
$GC,932,1.78,487.5,2892,2118,1905,4094,18.1,11.5,140,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2118,1905,1905,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.18,49.01
$GC,972,1.78,487.5,2892,2118,1905,4094,13.7,11.4,146,978,0.00,1.08,0.00,0.000,516,0.000,0.045,2893,1709,1904,1904,4094,0,0,0,0,0,0,26.28,25.91,26.29,10.20,49.96
$STATE,1080,end climb,FINISH_DEPTH_REACHED
$STATE,1080,begin subsurface finish
$FINISH1,1.5,1.024147,101
$GC,1092,0.15,101.2,2893,2159,1901,4095,1.5,10.3,164,1107,5.28,1.27,-4.20,0.000,20996,0.041,1.259,2391,1711,2372,2372,4095,0,0,0,0,0,0,26.11,24.41,26.17,10.23,52.16
$FINISH2,0.1
$STATE,1108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,021811
$TT8_MAMPS,0.025466,0.134071
$HUMID,52.44
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.86,45.370
$10V_AH,10.34,44.703
$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,34.200,16.800,56.025,0.000,0.000,76.302,66.551,364.610,0.000,0.000,23.282,437.265,359.507,143.024,728.411,299.237,0.000,322.573,0.000,251.341,0.000,0.544,0.000
$DEVICE_MAMPS,93.330,1259.190,1333.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10827,166
$CAP_FILE_SIZE,34234,0
$CFSIZE,1024409600,940998656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,022712,6114.442,-17352.979,6,0.8,22,7.0,0.7,311.4,11,4.8