version: 66.13
glider: 401
mission: 22
dive: 1601
start: 8 24 117 4 3 0
data:
$ID,401
$MISSION,22
$DIVE,1601
$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,29
$R_STBD_OVSHOOT,51
$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
$GPS1,240817,034122,6114.2808,-17354.2227,9,0.8,16,7.0,0.5,288.0,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-1.8
$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,-487.5,2386,1965,2375,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,4097,0.019,0.000,1833,1966,2375,2375,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.35,52.08
$GC,23,-1.78,-487.5,1833,1966,2374,4095,0.5,0.0,1,36,0.40,1.17,-5.62,0.000,20996,0.035,1.253,1786,1523,3055,3055,4094,0,0,0,0,0,0,26.12,24.46,26.13,10.35,52.04
$GC,203,-1.78,-487.5,1786,1524,3060,4094,24.0,-13.7,30,210,0.00,0.95,0.00,0.000,1030,0.000,0.027,1786,1931,3060,3060,4095,0,0,0,0,0,0,26.16,26.14,26.18,10.48,51.37
$GC,244,-1.78,-487.5,1786,1931,3061,4095,29.2,-12.6,36,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1931,3061,3061,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.44,51.22
$GC,284,-1.78,-487.5,1785,1932,3062,4095,33.9,-11.8,42,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1932,3062,3062,4095,0,0,0,0,0,0,26.45,26.47,26.46,10.43,51.14
$GC,324,-1.78,-487.5,1785,1932,3062,4095,37.9,-10.0,48,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1933,3062,3062,4095,0,0,0,0,0,0,26.47,26.49,26.48,10.42,50.03
$GC,363,-1.78,-487.5,1785,1933,3063,4095,42.5,-11.6,54,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1932,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.41,49.33
$GC,403,-1.78,-487.5,1785,1932,3064,4095,47.3,-12.4,60,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1932,3065,3065,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.39,49.64
$GC,442,-1.78,-487.5,1785,1933,3065,4095,52.2,-12.4,66,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1933,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.39,48.26
$GC,482,-1.78,-487.5,1785,1933,3066,4095,57.1,-12.5,72,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1933,3066,3066,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.38,48.54
$STATE,505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,505,begin apogee
$GC,515,-0.45,0.0,1785,2136,3067,4095,60.6,-12.4,76,551,4.28,0.00,28.12,1.323,10244,0.053,0.000,2185,2136,2484,2484,4095,0,0,0,0,0,0,26.19,25.34,24.30,10.38,48.46
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,553,begin climb
$GC,557,1.78,487.5,2184,2136,2484,4095,63.5,0.0,82,599,7.53,0.00,27.77,1.284,11270,0.030,0.000,2893,2136,1915,1915,4094,0,0,0,0,0,0,25.60,25.77,23.91,10.25,47.40
$GC,633,1.78,487.5,2892,2136,1914,4094,56.7,12.9,94,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2137,1914,1914,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.12,46.53
$GC,672,1.78,487.5,2892,2136,1913,4094,51.2,13.5,100,679,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1718,1913,1913,4094,0,0,0,0,0,0,25.75,25.43,25.75,10.12,46.29
$GC,791,1.78,487.5,2892,1718,1909,4094,35.0,13.4,119,797,0.00,1.00,0.00,0.000,1030,0.000,0.029,2893,2123,1909,1909,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.12,47.40
$GC,831,1.78,487.5,2892,2123,1908,4094,29.6,13.5,125,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2124,1908,1908,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,47.95
$GC,871,1.78,487.5,2892,2123,1907,4094,24.4,13.2,131,877,0.00,1.08,0.00,0.000,516,0.000,0.046,2893,1717,1907,1907,4094,0,0,0,0,0,0,26.17,25.81,26.18,10.13,48.46
$GC,941,1.78,487.5,2892,1717,1905,4094,16.2,11.7,142,948,0.00,1.00,0.00,0.000,1030,0.000,0.030,2893,2126,1904,1904,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.16,50.66
$GC,981,1.78,487.5,2892,2126,1903,4094,11.4,11.8,148,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2126,1903,1903,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.18,51.85
$GC,1021,1.78,487.5,2892,2126,1902,4094,6.7,11.6,154,1028,0.00,1.08,0.00,0.000,516,0.000,0.044,2893,1715,1901,1901,4094,0,0,0,0,0,0,26.33,25.96,26.34,10.20,52.52
$STATE,1063,end climb,FINISH_DEPTH_REACHED
$STATE,1063,begin subsurface finish
$FINISH1,1.5,1.024219,96
$GC,1075,0.14,96.2,2893,2139,1900,4094,1.5,11.4,161,1090,5.20,1.20,-4.25,0.000,20996,0.030,1.250,2389,1711,2379,2379,4094,0,0,0,0,0,0,26.10,24.44,26.15,10.20,52.75
$FINISH2,0.1
$STATE,1091,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1091,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,033325
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.85
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.91,45.479
$10V_AH,10.38,44.797
$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,22.975,10.675,55.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,423.392,260.742,136.462,236.756,93.590,0.000,310.081,0.000,245.486,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1253.070,1323.450,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.356,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330612
$DATA_FILE_SIZE,10787,163
$CAP_FILE_SIZE,26895,0
$CFSIZE,1024409600,940818432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,034122,6114.281,-17354.223,9,0.8,16,7.0,0.5,288.0,11,5.0