version: 66.13
glider: 401
mission: 22
dive: 1610
start: 8 24 117 7 49 17
data:
$ID,401
$MISSION,22
$DIVE,1610
$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,24
$R_STBD_OVSHOOT,42
$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
$GPS1,240817,072732,6114.5923,-17353.7168,5,0.7,27,7.0,0.7,304.4,11,5.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.7
$GPS2,240817,072732,6114.5923,-17353.7168,5,0.7,27,7.0,0.7,304.4,11,5.0
$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,162.7,20011,-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,-487.5,2377,1980,2387,4092,0.0,0.0,0,21,6.20,0.00,-2.22,0.000,20482,0.024,0.000,1772,1981,2625,2625,4094,0,0,0,0,0,0,26.14,28.83,26.20,10.33,52.71
$GC,26,-1.78,-487.5,1772,1981,2625,4094,0.1,0.0,1,36,0.00,1.05,-4.10,0.000,16644,0.000,1.247,1772,2365,3055,3055,4094,0,0,0,0,0,0,26.40,24.46,26.41,10.38,52.95
$GC,229,-1.78,-487.5,1771,2365,3061,4094,26.4,-14.4,30,239,0.00,1.05,0.00,0.000,1030,0.000,0.030,1772,1950,3061,3061,4095,0,0,0,0,0,0,26.17,26.15,26.21,10.46,52.71
$GC,279,-1.78,-487.5,1772,1950,3062,4095,32.7,-12.3,36,288,0.00,1.10,0.00,0.000,516,0.000,0.051,1772,1512,3062,3062,4094,0,0,0,0,0,0,26.48,26.09,26.50,10.43,52.08
$GC,339,-1.78,-487.5,1771,1512,3064,4094,41.0,-13.0,44,349,0.00,1.00,0.00,0.000,1030,0.000,0.027,1772,1939,3064,3064,4094,0,0,0,0,0,0,26.22,26.24,26.29,10.40,51.14
$GC,388,-1.78,-487.5,1771,1939,3065,4094,47.0,-12.5,50,398,0.00,1.10,0.00,0.000,260,0.000,0.044,1772,2366,3065,3065,4095,0,0,0,0,0,0,26.53,26.15,26.55,10.39,49.60
$GC,443,-1.78,-487.5,1771,2366,3065,4095,53.9,-12.2,57,452,0.00,1.05,0.00,0.000,1030,0.000,0.031,1772,1944,3067,3067,4094,0,0,0,0,0,0,26.25,26.25,26.29,10.38,49.60
$GC,490,-1.78,-487.5,1771,1944,3067,4094,59.9,-12.8,63,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1944,3068,3068,4095,0,0,0,0,0,0,26.57,26.59,26.59,10.38,48.70
$STATE,507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,507,begin apogee
$GC,518,-0.45,0.0,1772,2137,3068,4094,62.5,-13.1,65,554,4.45,0.00,28.30,1.339,10244,0.054,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.20,25.34,24.30,10.37,48.22
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,555,begin climb
$GC,559,1.78,487.5,2185,2137,2484,4094,66.0,0.0,69,604,7.57,0.00,27.62,1.300,11270,0.032,0.000,2893,2138,1922,1922,4094,0,0,0,0,0,0,25.60,25.77,23.89,10.25,47.44
$GC,644,1.78,487.5,2892,2137,1921,4094,58.9,13.0,79,653,0.00,0.00,0.93,0.003,8198,0.000,0.000,2893,2138,1920,1920,4094,0,0,0,0,0,0,25.60,25.60,25.60,10.12,46.22
$GC,693,1.78,487.5,2892,2137,1919,4094,52.0,13.9,85,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2138,1919,1919,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.11,46.14
$GC,742,1.78,487.5,2892,2137,1918,4094,45.0,14.3,91,751,0.00,1.12,0.00,0.000,516,0.000,0.046,2893,1714,1918,1918,4094,0,0,0,0,0,0,25.94,25.58,25.94,10.11,46.61
$GC,913,1.78,487.5,2892,1713,1913,4094,23.0,11.6,116,923,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2132,1913,1913,4094,0,0,0,0,0,0,25.94,25.92,25.97,10.12,48.14
$GC,961,1.78,487.5,2892,2132,1911,4094,18.1,10.6,122,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1911,1911,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.15,49.96
$GC,1008,1.78,487.5,2892,2132,1910,4094,12.7,11.5,128,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2132,1910,1910,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.17,51.10
$GC,1055,1.86,539.4,2892,2132,1909,4094,7.9,9.8,134,1066,0.17,1.10,4.28,0.435,10756,0.055,0.045,2919,1713,1853,1853,4094,0,0,0,0,0,0,26.11,25.77,24.85,10.18,51.85
$STATE,1113,end climb,FINISH_DEPTH_REACHED
$STATE,1113,begin subsurface finish
$FINISH1,1.6,1.024363,86
$GC,1125,0.13,86.2,2919,2139,1852,4095,1.6,10.4,142,1144,5.47,0.00,-4.80,0.000,20486,0.022,0.000,2381,2139,2385,2385,4094,0,0,0,0,0,0,26.13,25.44,26.16,10.19,52.52
$FINISH2,0.2
$STATE,1145,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1145,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,071941
$TT8_MAMPS,0.026215,0.241178
$HUMID,52.91
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.89,45.742
$10V_AH,10.15,45.028
$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,23.875,11.775,61.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,404.932,0.000,106.943,603.052,90.214,0.000,328.886,0.000,350.759,0.000,0.544,0.000
$DEVICE_MAMPS,55.080,1246.950,1338.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.601,391.151,309.674,459.383,601.581,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,14394,144
$CAP_FILE_SIZE,25156,0
$CFSIZE,1024409600,940376064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,072732,6114.592,-17353.717,5,0.7,27,7.0,0.7,304.4,11,5.0