version: 66.13
glider: 401
mission: 22
dive: 1606
start: 8 24 117 6 10 32
data:
$ID,401
$MISSION,22
$DIVE,1606
$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,23
$R_STBD_OVSHOOT,45
$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
$GPS1,240817,055552,6114.3149,-17354.6191,8,0.8,39,7.0,0.4,83.5,10,4.6
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-38.8
$GPS2,240817,060953,6114.4209,-17354.5723,5,0.7,19,7.0,0.0,29.7,11,4.8
$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,160.4,19852,-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,-487.5,230,1977,1901,4092,0.0,0.0,0,20,7.62,0.00,0.00,0.000,2049,0.092,0.000,875,1978,1901,1901,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.27,50.98
$GC,25,-1.78,-487.5,874,1977,1901,4094,0.8,0.0,1,52,9.48,1.30,-10.77,0.000,18948,0.038,1.256,1764,1520,3058,3058,4095,0,0,0,0,0,0,25.89,24.23,25.91,10.27,51.14
$GC,311,-1.78,-487.5,1763,1518,3064,4095,31.8,-13.2,42,320,0.00,0.98,0.00,0.000,1030,0.000,0.027,1764,1936,3065,3065,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.47,49.37
$GC,360,-1.78,-487.5,1763,1936,3066,4094,38.2,-13.3,48,369,0.00,1.15,0.00,0.000,260,0.000,0.046,1764,2375,3066,3066,4094,0,0,0,0,0,0,26.43,26.04,26.44,10.44,49.01
$GC,434,-1.78,-487.5,1763,2374,3067,4094,48.1,-12.7,58,443,0.00,1.05,0.00,0.000,1030,0.000,0.030,1764,1956,3068,3068,4095,0,0,0,0,0,0,26.18,26.16,26.21,10.42,47.48
$GC,482,-1.78,-487.5,1763,1955,3068,4095,54.1,-12.8,64,491,0.00,1.10,0.00,0.000,516,0.000,0.050,1764,1520,3069,3069,4095,0,0,0,0,0,0,26.50,26.10,26.51,10.40,47.04
$STATE,525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,525,begin apogee
$GC,536,-0.45,0.0,1764,2134,3069,4095,60.3,-13.3,70,572,4.53,0.00,28.48,1.319,10244,0.054,0.000,2184,2134,2484,2484,4094,0,0,0,0,0,0,26.14,25.29,24.26,10.39,46.33
$STATE,573,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,578,1.78,487.5,2184,2134,2484,4094,63.8,0.0,74,622,7.55,0.00,28.05,1.283,11270,0.031,0.000,2893,2134,1915,1915,4094,0,0,0,0,0,0,25.57,25.73,23.87,10.27,45.86
$GC,661,1.78,487.5,2893,2134,1914,4094,56.9,13.2,84,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2135,1914,1914,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.14,44.76
$GC,710,1.78,487.5,2893,2134,1912,4094,50.0,14.1,90,719,0.00,1.12,0.00,0.000,516,0.000,0.044,2894,1715,1912,1912,4094,0,0,0,0,0,0,25.78,25.46,25.80,10.14,45.35
$GC,836,1.78,487.5,2892,1715,1908,4094,33.1,13.1,108,844,0.00,1.02,0.00,0.000,1030,0.000,0.031,2894,2131,1908,1908,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.12,46.06
$GC,884,1.78,487.5,2893,2131,1907,4094,27.1,13.1,114,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1907,1907,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.14,46.57
$GC,932,1.78,487.5,2893,2131,1906,4094,21.7,10.6,120,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2132,1906,1906,4094,0,0,0,0,0,0,26.21,26.23,26.22,10.17,47.75
$GC,980,1.78,487.5,2893,2131,1905,4094,16.5,11.0,126,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1904,1904,4094,0,0,0,0,0,0,26.27,26.27,26.27,10.18,48.81
$GC,1029,1.84,526.1,2893,2131,1903,4094,11.4,10.0,132,1039,0.10,1.10,3.33,0.341,10756,0.079,0.045,2911,1710,1870,1870,4094,0,0,0,0,0,0,26.09,25.72,24.76,10.20,50.27
$STATE,1107,end climb,FINISH_DEPTH_REACHED
$STATE,1107,begin subsurface finish
$FINISH1,1.8,1.024374,85
$GC,1119,0.13,85.4,2911,2148,1867,4094,1.8,11.6,143,1138,5.38,0.00,-4.55,0.000,20486,0.018,0.000,2378,2148,2388,2388,4095,0,0,0,0,0,0,26.13,25.43,26.17,10.20,51.33
$FINISH2,0.3
$STATE,1139,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1139,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,060152
$TT8_MAMPS,0.024717,0.250915
$HUMID,51.92
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.87,45.633
$10V_AH,10.13,44.929
$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,34.650,11.475,59.850,0.000,0.000,67.898,64.129,356.270,0.000,0.000,23.298,413.604,89.895,109.287,1077.898,303.486,0.000,330.403,0.000,354.828,0.000,0.543,0.000
$DEVICE_MAMPS,91.800,1256.130,1318.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.219,393.891,311.801,462.232,601.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329292
$DATA_FILE_SIZE,14349,145
$CAP_FILE_SIZE,31811,0
$CFSIZE,1024409600,940572672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,060953,6114.421,-17354.572,5,0.7,19,7.0,0.0,29.7,11,4.8