version: 66.13
glider: 401
mission: 22
dive: 1617
start: 8 24 117 10 37 12
data:
$ID,401
$MISSION,22
$DIVE,1617
$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,48
$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,0.10
$_SM_ANGLEo,-1.9
$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,-487.5,2380,1987,2386,4092,0.0,0.0,0,18,5.93,0.00,0.00,0.000,4097,0.024,0.000,1806,1988,2385,2385,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.32,52.59
$GC,23,-1.78,-487.5,1806,1988,2386,4094,0.0,0.0,1,36,0.12,1.00,-6.22,0.000,20740,0.069,1.242,1787,2357,3057,3057,4094,0,0,0,0,0,0,26.10,24.43,26.13,10.32,52.71
$GC,45,-1.78,-487.5,1786,2356,3057,4094,1.0,-3.4,4,51,0.00,1.02,0.00,0.000,1030,0.000,0.034,1787,1957,3057,3057,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.46,52.44
$GC,85,-1.78,-487.5,1786,1957,3058,4094,6.2,-13.8,10,92,0.00,1.08,0.00,0.000,260,0.000,0.044,1787,2355,3059,3059,4095,0,0,0,0,0,0,26.29,25.94,26.29,10.47,53.03
$GC,325,-1.78,-487.5,1786,2355,3065,4095,40.2,-12.1,49,332,0.00,1.05,0.00,0.000,1030,0.000,0.031,1787,1936,3065,3065,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.40,50.63
$GC,366,-1.78,-487.5,1786,1936,3066,4094,45.0,-11.7,55,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1936,3066,3066,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.39,50.31
$GC,406,-1.78,-487.5,1786,1936,3066,4095,49.6,-11.4,61,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1936,3067,3067,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.38,49.60
$GC,445,-1.78,-487.5,1786,1936,3068,4094,54.5,-12.6,67,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1936,3068,3068,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.38,49.84
$GC,485,-1.78,-487.5,1786,1936,3068,4094,59.4,-12.4,73,491,0.00,1.12,0.00,0.000,260,0.000,0.043,1787,2358,3068,3068,4095,0,0,0,0,0,0,26.54,26.17,26.55,10.37,49.29
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,507,-0.45,0.0,1787,2122,3068,4095,61.5,-13.1,75,543,4.28,0.00,28.25,1.338,10244,0.054,0.000,2185,2122,2484,2484,4094,0,0,0,0,0,0,26.17,25.31,24.27,10.37,48.93
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,548,1.78,487.5,2185,2122,2484,4094,64.4,0.0,81,590,7.53,0.00,27.90,1.295,11270,0.031,0.000,2892,2121,1915,1915,4094,0,0,0,0,0,0,25.57,25.74,23.87,10.24,47.67
$GC,624,1.78,487.5,2890,2121,1913,4094,58.2,12.5,93,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2121,1913,1913,4095,0,0,0,0,0,0,25.54,25.56,25.56,10.11,47.32
$GC,664,1.78,487.5,2891,2121,1912,4095,52.8,13.3,99,670,0.00,1.02,0.00,0.000,516,0.000,0.047,2892,1731,1912,1912,4094,0,0,0,0,0,0,25.72,25.40,25.73,10.11,46.85
$GC,722,1.78,487.5,2891,1731,1910,4094,44.7,14.0,108,729,0.00,0.95,0.00,0.000,1030,0.000,0.031,2892,2114,1910,1910,4094,0,0,0,0,0,0,25.65,25.61,25.67,10.10,47.59
$GC,763,1.78,487.5,2891,2113,1909,4094,39.1,14.2,114,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1909,1909,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.10,47.71
$GC,802,1.78,487.5,2891,2113,1907,4094,33.8,13.5,120,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1907,1907,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.10,47.75
$GC,842,1.78,487.5,2891,2113,1907,4094,28.6,13.0,126,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2114,1906,1906,4094,0,0,0,0,0,0,26.12,26.14,26.13,10.11,48.22
$GC,882,1.78,487.5,2891,2113,1905,4094,23.5,12.5,132,888,0.00,1.02,0.00,0.000,516,0.000,0.046,2892,1727,1905,1905,4094,0,0,0,0,0,0,26.17,25.82,26.19,10.12,49.01
$GC,1000,1.78,487.5,2891,1727,1902,4094,10.3,11.2,151,1007,0.00,1.00,0.00,0.000,1030,0.000,0.030,2892,2136,1902,1902,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.18,52.32
$GC,1040,1.78,487.5,2891,2135,1901,4094,5.8,11.4,157,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2136,1900,1900,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.19,52.52
$STATE,1076,end climb,SURFACE_DEPTH_REACHED
$STATE,1076,begin surface coast
$FINISH,0.2,1.024385
$STATE,1095,end surface coast,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$SM_CCo,1199,0.00,0.000,0,0,1899,503.14
$SM_GC,0.90,27.80,0.45,0.00,0.020,0.042,0.000,230,1961,1899,-6.59,1.82,503.14,0,0,0,0,0,0,26.03,26.08,26.10
$IRIDIUM_FIX,6149.06,-17422.35,240817,094813
$TT8_MAMPS,0.025466,0.110103
$HUMID,53.93
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.87,45.935
$10V_AH,10.37,45.179
$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,45.650,10.900,56.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.361,329.453,156.314,240.644,101.323,0.000,330.623,0.000,249.802,0.000,0.542,0.000
$DEVICE_MAMPS,68.850,1242.360,1337.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,10786,166
$CAP_FILE_SIZE,28717,0
$CFSIZE,1024409600,940032000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,105834,6112.831,-17351.537,39,0.8,42,7.0,0.7,178.8,11,4.9