version: 66.13
glider: 401
mission: 22
dive: 1618
start: 8 24 117 11 9 44
data:
$ID,401
$MISSION,22
$DIVE,1618
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,240817,105834,6112.8311,-17351.5371,39,0.8,42,7.0,0.7,178.8,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-39.3
$GPS2,240817,110908,6112.7759,-17351.5469,5,0.9,17,7.0,0.0,104.7,10,4.4
$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,167.3,16407,-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,6,begin dive
$GC,10,-1.78,-487.5,229,1961,1898,4092,0.0,0.0,0,20,7.60,0.00,0.00,0.000,2049,0.096,0.000,868,1961,1899,1899,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.26,51.41
$GC,25,-1.78,-487.5,868,1961,1899,4094,0.8,0.0,1,52,9.68,1.23,-10.77,0.000,19204,0.045,1.246,1764,2385,3056,3056,4094,0,0,0,0,0,0,25.86,24.25,25.91,10.25,51.41
$GC,303,-1.78,-487.5,1763,2386,3062,4094,34.8,-13.3,41,312,0.00,1.10,0.00,0.000,1030,0.000,0.029,1764,1945,3063,3063,4095,0,0,0,0,0,0,26.11,26.10,26.14,10.44,49.09
$GC,351,-1.78,-487.5,1763,1944,3064,4095,41.1,-13.5,47,360,0.00,1.08,0.00,0.000,516,0.000,0.051,1764,1520,3064,3064,4095,0,0,0,0,0,0,26.44,26.03,26.44,10.42,48.93
$GC,398,-1.78,-487.5,1763,1520,3065,4095,47.3,-12.9,53,408,0.00,1.02,0.00,0.000,1030,0.000,0.027,1764,1957,3065,3065,4094,0,0,0,0,0,0,26.22,26.19,26.22,10.41,48.18
$GC,446,-1.78,-487.5,1764,1957,3066,4094,53.4,-13.1,59,455,0.00,1.08,0.00,0.000,260,0.000,0.044,1764,2370,3066,3066,4095,0,0,0,0,0,0,26.48,26.10,26.50,10.39,47.04
$STATE,498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,498,begin apogee
$GC,508,-0.45,0.0,1764,2112,3067,4095,60.7,-13.7,66,551,4.55,0.00,28.42,1.334,10244,0.054,0.000,2186,2111,2483,2483,4094,0,0,0,0,0,0,26.13,24.98,24.22,10.39,46.57
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,552,begin climb
$GC,557,1.78,487.5,2186,2111,2483,4094,64.7,0.0,71,601,7.53,0.00,28.02,1.297,11270,0.030,0.000,2894,2111,1915,1915,4094,0,0,0,0,0,0,25.58,25.75,23.86,10.27,45.98
$GC,641,1.78,487.5,2893,2111,1914,4094,57.9,12.9,81,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2111,1913,1913,4094,0,0,0,0,0,0,25.58,25.60,25.60,10.13,45.86
$GC,689,1.78,487.5,2893,2111,1912,4094,51.5,13.3,87,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2111,1912,1912,4095,0,0,0,0,0,0,25.78,25.79,25.79,10.12,45.86
$GC,738,1.78,487.5,2893,2111,1911,4095,44.8,13.8,93,747,0.00,1.00,0.00,0.000,516,0.000,0.047,2894,1728,1910,1910,4094,0,0,0,0,0,0,25.91,25.56,25.93,10.12,45.62
$GC,812,1.78,487.5,2893,1727,1908,4094,34.7,12.7,103,821,0.00,0.98,0.00,0.000,1030,0.000,0.030,2894,2125,1908,1908,4094,0,0,0,0,0,0,25.79,25.76,25.83,10.11,46.06
$GC,859,1.78,487.5,2893,2124,1907,4094,28.6,12.8,109,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2125,1907,1907,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.12,46.45
$GC,906,1.78,487.5,2894,2124,1905,4094,22.7,12.6,115,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2125,1905,1905,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.14,47.55
$GC,953,1.78,487.5,2893,2124,1904,4094,17.2,11.3,121,962,0.00,1.02,0.00,0.000,516,0.000,0.044,2894,1735,1904,1904,4095,0,0,0,0,0,0,26.25,25.86,26.26,10.17,48.93
$GC,1085,1.78,487.5,2893,1735,1900,4095,2.5,11.9,140,1095,0.00,0.95,0.00,0.000,1030,0.000,0.031,2894,2123,1900,1900,4094,0,0,0,0,0,0,26.09,26.06,26.11,10.20,51.65
$STATE,1102,end climb,FINISH_DEPTH_REACHED
$STATE,1102,begin subsurface finish
$FINISH1,0.2,1.024370,86
$GC,1113,0.13,85.7,2893,2123,1900,4094,0.2,11.2,142,1132,5.22,0.00,-4.43,0.000,20486,0.023,0.000,2386,2131,2390,2390,4094,0,0,0,0,0,0,26.09,25.45,26.15,10.20,51.65
$FINISH2,0.2
$STATE,1133,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1133,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,095435
$TT8_MAMPS,0.026215,0.246421
$HUMID,51.89
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.86,45.976
$10V_AH,10.13,45.219
$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,34.575,10.050,56.450,0.000,0.000,54.419,50.405,250.426,0.000,0.000,18.896,400.621,45.637,114.580,940.933,275.491,0.000,346.331,0.000,351.735,0.000,0.542,0.000
$DEVICE_MAMPS,95.625,1246.185,1334.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.439,391.227,309.621,459.379,598.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,14340,144
$CAP_FILE_SIZE,28905,0
$CFSIZE,1024409600,939982848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,110908,6112.776,-17351.547,5,0.9,17,7.0,0.0,104.7,10,4.4