version: 66.13
glider: 401
mission: 22
dive: 1604
start: 8 24 117 5 14 23
data:
$ID,401
$MISSION,22
$DIVE,1604
$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,26
$R_STBD_OVSHOOT,57
$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
$GPS1,240817,045329,6114.2988,-17354.8301,5,1.1,21,7.0,0.4,349.2,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.2
$GPS2,240817,045329,6114.2988,-17354.8301,5,1.1,21,7.0,0.4,349.2,9,4.7
$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,159.6,19683,-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,-487.5,2386,1996,2393,4092,0.0,0.0,0,21,6.28,0.00,-2.12,0.000,20482,0.024,0.000,1775,1997,2621,2621,4094,0,0,0,0,0,0,26.13,28.83,26.20,10.33,53.07
$GC,26,-1.78,-487.5,1774,1996,2620,4094,0.1,0.0,1,36,0.00,0.95,-4.00,0.000,16644,0.000,1.248,1774,2350,3057,3057,4095,0,0,0,0,0,0,26.41,24.49,26.41,10.38,52.75
$GC,158,-1.78,-487.5,1774,2350,3062,4095,18.1,-16.1,20,168,0.00,1.00,0.00,0.000,1030,0.000,0.030,1775,1957,3061,3061,4094,0,0,0,0,0,0,26.18,26.12,26.18,10.47,53.30
$GC,206,-1.78,-487.5,1774,1957,3062,4094,25.2,-14.9,26,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1957,3062,3062,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.46,52.95
$GC,253,-1.78,-487.5,1774,1957,3064,4094,31.8,-13.9,32,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1957,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.44,52.36
$GC,300,-1.78,-487.5,1774,1957,3064,4095,37.7,-12.5,38,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1957,3064,3064,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.42,50.74
$GC,346,-1.78,-487.5,1774,1957,3066,4095,43.4,-12.7,44,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1957,3065,3065,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.41,50.74
$GC,392,-1.78,-487.5,1774,1957,3067,4095,49.3,-12.4,50,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1957,3067,3067,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.39,49.37
$GC,439,-1.78,-487.5,1774,1957,3068,4095,55.1,-12.2,56,449,0.00,1.12,0.00,0.000,516,0.000,0.053,1775,1513,3068,3068,4095,0,0,0,0,0,0,26.56,26.15,26.57,10.38,48.89
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,487,-0.45,0.0,1774,2108,3069,4095,60.2,-12.7,61,524,4.43,0.03,28.30,1.329,10244,0.054,0.219,2186,2145,2484,2484,4095,0,0,0,0,0,0,26.20,25.34,24.30,10.38,48.07
$STATE,525,end apogee,CONTROL_FINISHED_OK
$STATE,525,begin climb
$GC,529,1.78,487.5,2186,2145,2484,4095,63.4,0.0,65,574,7.50,0.00,27.85,1.284,11270,0.030,0.000,2892,2145,1918,1918,4094,0,0,0,0,0,0,25.60,25.77,23.89,10.24,47.63
$GC,613,1.78,487.5,2891,2145,1917,4094,56.2,13.3,75,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2145,1917,1917,4094,0,0,0,0,0,0,25.62,25.63,25.63,10.12,46.41
$GC,661,1.78,487.5,2891,2145,1915,4094,49.5,13.9,81,671,0.00,1.17,0.00,0.000,516,0.000,0.045,2891,1704,1915,1915,4094,0,0,0,0,0,0,25.80,25.46,25.82,10.12,46.49
$GC,794,1.78,487.5,2891,1704,1911,4094,31.3,13.3,100,803,0.00,1.05,0.00,0.000,1030,0.000,0.030,2891,2129,1911,1911,4094,0,0,0,0,0,0,25.84,25.78,25.86,10.11,47.48
$GC,841,1.78,487.5,2891,2129,1910,4094,25.1,13.2,106,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1910,1910,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.13,48.50
$GC,888,1.78,487.5,2891,2129,1908,4094,19.5,11.6,112,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2130,1908,1908,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.15,49.21
$GC,935,1.78,487.5,2891,2129,1907,4094,14.0,11.7,118,943,0.00,1.12,0.00,0.000,516,0.000,0.046,2891,1704,1907,1907,4094,0,0,0,0,0,0,26.27,25.91,26.29,10.17,50.23
$GC,1040,1.86,545.2,2891,1704,1904,4094,2.3,9.7,133,1051,0.22,1.02,4.28,0.386,11270,0.042,0.028,2921,2125,1847,1847,4094,0,0,0,0,0,0,26.08,26.08,24.91,10.19,52.83
$STATE,1058,end climb,FINISH_DEPTH_REACHED
$STATE,1059,begin subsurface finish
$FINISH1,0.1,1.003604,0
$GC,1069,0.00,0.0,2921,2124,1847,4094,0.1,9.9,135,1087,5.82,0.00,-5.80,0.000,20486,0.025,0.000,2349,2125,2487,2487,4094,0,0,0,0,0,0,26.11,25.43,26.15,10.19,52.16
$FINISH2,0.1
$STATE,1088,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,033710
$TT8_MAMPS,0.026215,0.256158
$HUMID,52.59
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.89,45.563
$10V_AH,10.14,44.876
$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,24.250,9.575,60.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.245,0.000,111.091,568.172,89.340,0.000,329.591,0.000,333.395,0.000,0.544,0.000
$DEVICE_MAMPS,53.550,1248.480,1328.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.488,372.190,294.617,436.705,567.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,14314,137
$CAP_FILE_SIZE,25185,0
$CFSIZE,1024409600,940670976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,045329,6114.299,-17354.830,5,1.1,21,7.0,0.4,349.2,9,4.7