version: 66.13
glider: 401
mission: 22
dive: 1615
start: 8 24 117 9 57 21
data:
$ID,401
$MISSION,22
$DIVE,1615
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,240817,094440,6113.6289,-17351.6777,7,0.9,15,7.0,0.0,0.0,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-37.9
$GPS2,240817,095645,6113.5874,-17351.5762,5,0.8,18,7.0,0.0,0.0,10,4.9
$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,167.7,17906,-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,-487.5,229,1961,1901,4093,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.097,0.000,700,1961,1900,1900,4095,0,0,0,0,0,0,26.23,28.83,28.83,10.27,51.18
$GC,23,-1.78,-487.5,700,1962,1901,4095,0.8,0.0,1,54,11.57,1.20,-10.77,0.000,19204,0.052,1.248,1764,2384,3057,3057,4094,0,0,0,0,0,0,25.92,24.22,25.98,10.26,50.86
$GC,287,-1.78,-487.5,1763,2384,3062,4094,32.1,-13.2,44,294,0.00,1.10,0.00,0.000,1030,0.000,0.030,1763,1943,3063,3063,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.46,50.07
$GC,328,-1.78,-487.5,1763,1943,3064,4094,37.4,-13.7,50,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3064,3064,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.44,49.72
$GC,367,-1.78,-487.5,1763,1942,3064,4094,42.8,-13.3,56,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3064,3064,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.43,48.14
$GC,407,-1.78,-487.5,1763,1943,3066,4095,48.0,-12.8,62,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3066,3066,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.42,48.14
$GC,447,-1.78,-487.5,1763,1943,3067,4095,53.2,-13.6,68,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3067,3067,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.40,47.20
$GC,486,-1.78,-487.5,1763,1942,3068,4095,58.5,-13.6,74,493,0.00,1.17,0.00,0.000,260,0.000,0.044,1764,2382,3068,3068,4094,0,0,0,0,0,0,26.49,26.10,26.51,10.39,46.88
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,508,-0.45,0.0,1764,2113,3068,4094,60.8,-14.0,76,545,4.53,0.08,28.25,1.313,10244,0.054,0.111,2185,2150,2484,2484,4094,0,0,0,0,0,0,26.10,25.28,24.25,10.38,46.92
$STATE,546,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,551,1.78,487.5,2185,2150,2484,4094,63.9,0.0,82,592,7.50,0.00,27.90,1.280,11270,0.030,0.000,2892,2150,1915,1915,4094,0,0,0,0,0,0,25.56,25.72,23.87,10.27,46.29
$GC,626,1.78,487.5,2891,2149,1914,4094,57.5,12.7,94,633,0.00,1.10,0.00,0.000,516,0.000,0.042,2892,1739,1915,1915,4094,0,0,0,0,0,0,25.53,25.25,25.55,10.14,45.19
$GC,697,1.78,487.5,2892,1738,1912,4094,47.9,13.6,105,703,0.00,0.95,0.00,0.000,1030,0.000,0.030,2893,2123,1912,1912,4094,0,0,0,0,0,0,25.58,25.55,25.60,10.13,46.10
$GC,737,1.78,487.5,2892,2122,1911,4094,42.2,13.9,111,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1911,1911,4095,0,0,0,0,0,0,25.93,25.94,25.94,10.12,45.62
$GC,777,1.78,487.5,2891,2122,1909,4095,36.8,13.5,117,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1909,1909,4095,0,0,0,0,0,0,26.01,26.03,26.02,10.12,46.14
$GC,817,1.78,487.5,2892,2122,1908,4095,31.8,12.5,123,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2123,1908,1908,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.13,46.57
$GC,856,1.78,487.5,2892,2122,1907,4094,26.8,12.5,129,863,0.00,1.02,0.00,0.000,516,0.000,0.045,2892,1735,1907,1907,4094,0,0,0,0,0,0,26.14,25.77,26.15,10.13,47.16
$GC,939,1.78,487.5,2892,1735,1905,4094,17.2,11.4,142,945,0.00,0.98,0.00,0.000,1030,0.000,0.030,2892,2133,1905,1905,4095,0,0,0,0,0,0,25.98,25.94,25.99,10.17,49.92
$GC,979,1.78,487.5,2891,2133,1903,4095,12.5,11.8,148,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1903,1903,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.19,51.10
$GC,1019,1.78,487.5,2892,2133,1902,4094,8.0,11.1,154,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1902,1902,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.20,52.08
$GC,1058,1.78,487.5,2891,2133,1901,4094,3.4,11.6,160,1065,0.00,1.05,0.00,0.000,516,0.000,0.044,2892,1732,1900,1900,4094,0,0,0,0,0,0,26.34,25.98,26.36,10.20,51.65
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.6,1.024371,86
$GC,1082,0.13,85.6,2892,2144,1900,4094,1.6,11.6,162,1096,5.35,0.00,-4.30,0.000,20998,0.040,0.000,2378,2144,2391,2391,4094,0,0,0,0,0,0,26.13,24.58,26.17,10.21,52.67
$FINISH2,0.3
$STATE,1097,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,094813
$TT8_MAMPS,0.025466,0.131824
$HUMID,52.28
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.87,45.893
$10V_AH,10.33,45.138
$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,34.550,10.300,56.150,0.000,0.000,47.687,51.425,335.371,0.000,0.000,19.804,429.908,299.172,149.192,644.809,308.623,0.000,332.398,0.000,248.605,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1248.480,1312.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.697,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329256
$DATA_FILE_SIZE,10751,164
$CAP_FILE_SIZE,34027,0
$CFSIZE,1024409600,940113920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,095645,6113.587,-17351.576,5,0.8,18,7.0,0.0,0.0,10,4.9