version: 66.13
glider: 401
mission: 22
dive: 1616
start: 8 24 117 10 17 31
data:
$ID,401
$MISSION,22
$DIVE,1616
$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,30
$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
$GPS1,240817,095645,6113.5874,-17351.5762,5,0.8,18,7.0,0.0,0.0,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-4.4
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,9,-1.78,-487.5,2378,1971,2391,4092,0.0,0.0,0,20,6.20,0.00,-2.17,0.000,20482,0.024,0.000,1773,1973,2626,2626,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.33,52.79
$GC,25,-1.78,-487.5,1772,1973,2626,4094,0.1,0.0,1,35,0.00,1.10,-3.75,0.000,16644,0.000,1.254,1773,2376,3054,3054,4094,0,0,0,0,0,0,26.41,24.49,26.41,10.38,52.48
$GC,294,-1.78,-487.5,1772,2376,3061,4094,37.4,-12.9,40,303,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1948,3062,3062,4094,0,0,0,0,0,0,26.20,26.17,26.24,10.41,50.82
$GC,343,-1.78,-487.5,1772,1947,3062,4094,43.7,-12.8,46,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1948,3062,3062,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.40,49.96
$GC,390,-1.78,-487.5,1772,1948,3064,4095,49.7,-12.6,52,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1948,3064,3064,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.38,49.09
$GC,439,-1.78,-487.5,1772,1947,3065,4094,55.8,-12.4,58,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1947,3066,3066,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.38,49.01
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,477,-0.45,0.0,1772,2145,3066,4095,60.2,-12.9,62,514,4.43,0.00,28.12,1.314,10244,0.054,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.19,25.35,24.31,10.38,48.85
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,519,1.78,487.5,2185,2145,2484,4094,63.4,0.0,66,564,7.53,0.00,27.83,1.278,11270,0.031,0.000,2892,2145,1918,1918,4094,0,0,0,0,0,0,25.61,25.78,23.90,10.25,47.71
$GC,604,1.78,487.5,2891,2145,1917,4094,56.4,13.1,76,613,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1714,1917,1917,4094,0,0,0,0,0,0,25.61,25.31,25.62,10.12,46.69
$GC,677,1.78,487.5,2892,1713,1914,4094,45.9,14.0,86,687,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2125,1914,1914,4094,0,0,0,0,0,0,25.63,25.58,25.65,10.11,46.37
$GC,725,1.78,487.5,2892,2124,1913,4094,39.2,14.3,92,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1913,1913,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.11,47.40
$GC,772,1.78,487.5,2891,2124,1911,4094,32.9,13.2,98,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1911,1911,4094,0,0,0,0,0,0,26.07,26.09,26.08,10.11,47.20
$GC,819,1.78,487.5,2891,2125,1909,4094,26.8,12.9,104,828,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1711,1910,1910,4094,0,0,0,0,0,0,26.14,25.77,26.15,10.12,48.30
$GC,912,1.78,487.5,2892,1710,1907,4094,16.0,11.3,117,921,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2128,1907,1907,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.17,50.55
$GC,960,1.78,487.5,2892,2127,1905,4094,10.8,10.7,123,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1906,1906,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.19,51.33
$GC,1007,1.78,487.5,2892,2128,1905,4094,5.4,11.6,129,1015,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1904,1904,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.19,52.28
$STATE,1037,end climb,FINISH_DEPTH_REACHED
$STATE,1037,begin subsurface finish
$FINISH1,1.5,1.024370,86
$GC,1047,0.13,85.7,2892,2128,1903,4094,1.5,11.4,133,1067,5.28,1.15,-4.38,0.000,20996,0.031,1.254,2380,1713,2386,2386,4094,0,0,0,0,0,0,26.11,24.47,26.16,10.20,52.24
$FINISH2,0.1
$STATE,1068,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1068,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,094813
$TT8_MAMPS,0.025466,0.275632
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.90,45.914
$10V_AH,10.10,45.168
$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,23.425,8.550,55.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.178,0.380,102.081,564.041,86.228,0.000,312.517,0.000,330.572,0.000,0.545,0.000
$DEVICE_MAMPS,53.550,1253.835,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.318,366.750,290.282,430.468,561.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,14362,135
$CAP_FILE_SIZE,22513,0
$CFSIZE,1024409600,940081152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,095645,6113.587,-17351.576,5,0.8,18,7.0,0.0,0.0,10,4.9