version: 66.13
glider: 401
mission: 22
dive: 1600
start: 8 24 117 3 41 59
data:
$ID,401
$MISSION,22
$DIVE,1600
$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,10
$R_STBD_OVSHOOT,61
$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
$GPS1,240817,033001,6114.1997,-17353.9004,7,0.8,36,7.0,0.3,225.8,11,4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-37.9
$GPS2,240817,034122,6114.2808,-17354.2227,9,0.8,16,7.0,0.5,288.0,11,5.0
$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,161.1,19532,-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,-487.5,230,1965,1881,4092,0.0,0.0,0,21,8.52,0.00,0.00,0.000,2049,0.101,0.000,939,1965,1881,1881,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.28,51.53
$GC,25,-1.78,-487.5,938,1964,1881,4094,0.8,0.0,1,52,8.98,1.27,-10.95,0.000,18948,0.051,1.261,1762,1507,3056,3056,4095,0,0,0,0,0,0,25.83,24.27,25.88,10.28,52.16
$GC,246,-1.78,-487.5,1761,1507,3061,4095,24.7,-13.2,32,255,0.00,0.98,0.00,0.000,1030,0.000,0.025,1762,1926,3062,3062,4094,0,0,0,0,0,0,26.11,26.09,26.14,10.51,50.35
$GC,295,-1.78,-487.5,1761,1926,3062,4094,31.2,-13.4,38,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1926,3063,3063,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.47,49.48
$GC,344,-1.78,-487.5,1761,1926,3064,4094,37.5,-13.4,44,353,0.00,1.12,0.00,0.000,260,0.000,0.043,1762,2358,3064,3064,4095,0,0,0,0,0,0,26.43,26.05,26.44,10.45,48.74
$GC,417,-1.78,-487.5,1761,2358,3065,4095,47.3,-12.8,54,427,0.00,1.08,0.00,0.000,1030,0.000,0.030,1762,1927,3065,3065,4094,0,0,0,0,0,0,26.18,26.14,26.21,10.43,47.44
$GC,465,-1.78,-487.5,1761,1927,3066,4094,53.2,-12.7,60,474,0.00,1.02,0.00,0.000,516,0.000,0.051,1762,1520,3067,3067,4095,0,0,0,0,0,0,26.49,26.09,26.51,10.41,46.96
$STATE,517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,517,begin apogee
$GC,528,-0.45,0.0,1761,2126,3068,4095,60.5,-13.3,67,564,4.55,0.00,28.35,1.314,10244,0.054,0.000,2186,2126,2484,2484,4094,0,0,0,0,0,0,26.15,25.30,24.26,10.40,46.06
$STATE,565,end apogee,CONTROL_FINISHED_OK
$STATE,566,begin climb
$GC,570,1.78,487.5,2186,2126,2484,4094,64.0,0.0,71,614,7.50,0.00,28.05,1.283,11270,0.030,0.000,2893,2127,1915,1915,4095,0,0,0,0,0,0,25.58,25.74,23.87,10.29,45.74
$GC,654,1.78,487.5,2892,2126,1914,4095,57.0,13.3,81,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2127,1914,1914,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.15,44.72
$GC,703,1.78,487.5,2892,2126,1913,4094,50.6,13.1,87,712,0.00,1.10,0.00,0.000,516,0.000,0.045,2893,1713,1912,1912,4094,0,0,0,0,0,0,25.80,25.49,25.81,10.15,44.95
$GC,822,1.78,487.5,2892,1712,1909,4094,34.7,12.5,104,832,0.00,1.02,0.00,0.000,1030,0.000,0.030,2893,2128,1908,1908,4094,0,0,0,0,0,0,25.82,25.79,25.86,10.13,46.10
$GC,870,1.78,487.5,2892,2128,1907,4094,29.0,11.6,110,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1907,1907,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.14,46.77
$GC,917,1.78,487.5,2892,2128,1906,4095,23.7,11.2,116,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2128,1905,1905,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.16,48.26
$GC,964,1.78,487.5,2892,2129,1905,4094,18.1,12.0,122,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1904,1904,4094,0,0,0,0,0,0,26.27,26.27,26.27,10.19,49.09
$GC,1011,1.78,487.5,2892,2128,1903,4094,12.8,11.4,128,1021,0.00,1.10,0.00,0.000,516,0.000,0.045,2893,1710,1903,1903,4094,0,0,0,0,0,0,26.31,25.94,26.32,10.20,50.59
$STATE,1115,end climb,FINISH_DEPTH_REACHED
$STATE,1115,begin subsurface finish
$FINISH1,1.8,1.024205,97
$GC,1127,0.15,97.2,2893,2167,1900,4094,1.8,10.4,143,1146,5.18,1.27,-4.30,0.000,20996,0.023,1.263,2387,1720,2375,2375,4095,0,0,0,0,0,0,26.14,24.51,26.19,10.22,51.57
$FINISH2,0.1
$STATE,1147,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1147,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,033325
$TT8_MAMPS,0.025466,0.241927
$HUMID,52.55
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.87,45.458
$10V_AH,10.14,44.786
$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,34.725,12.700,56.400,0.000,0.000,46.160,49.148,305.434,0.000,0.000,17.342,410.491,44.378,112.604,983.519,289.332,0.000,343.439,0.000,355.517,0.000,0.542,0.000
$DEVICE_MAMPS,100.980,1263.015,1313.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.074,393.913,311.797,462.404,605.829,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329244
$DATA_FILE_SIZE,14407,145
$CAP_FILE_SIZE,30318,0
$CFSIZE,1024409600,940867584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240817,034122,6114.281,-17354.223,9,0.8,16,7.0,0.5,288.0,11,5.0