version: 66.13
glider: 401
mission: 22
dive: 1619
start: 8 24 117 11 30 31
data:
$ID,401
$MISSION,22
$DIVE,1619
$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,28
$R_STBD_OVSHOOT,19
$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
$GPS1,240817,110908,6112.7759,-17351.5469,5,0.9,17,7.0,0.0,104.7,10,4.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.5
$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,5,begin dive
$GC,10,-1.78,-487.5,2386,1967,2391,4092,0.0,0.0,0,17,5.60,0.00,0.00,0.000,4097,0.024,0.000,1834,1968,2390,2390,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.33,52.59
$GC,22,-1.78,-487.5,1833,1968,2390,4094,0.1,0.0,1,35,0.40,1.15,-6.22,0.000,20740,0.039,1.240,1789,2388,3054,3054,4095,0,0,0,0,0,0,26.08,24.45,26.12,10.33,51.81
$GC,58,-1.78,-487.5,1789,2389,3054,4095,0.0,0.2,6,64,0.00,1.10,0.00,0.000,1030,0.000,0.031,1789,1958,3054,3054,4094,0,0,0,0,0,0,25.98,25.94,26.02,10.47,52.12
$GC,98,-1.78,-487.5,1788,1957,3055,4094,2.4,-9.7,12,105,0.00,1.12,0.00,0.000,516,0.000,0.051,1789,1514,3055,3055,4094,0,0,0,0,0,0,26.32,25.93,26.32,10.48,51.81
$GC,338,-1.78,-487.5,1788,1513,3061,4094,36.3,-12.6,51,345,0.00,1.08,0.00,0.000,1030,0.000,0.026,1789,1969,3062,3062,4094,0,0,0,0,0,0,26.24,26.20,26.26,10.42,50.78
$GC,379,-1.78,-487.5,1788,1968,3062,4094,41.4,-12.4,57,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1968,3062,3062,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.40,50.31
$GC,419,-1.78,-487.5,1788,1968,3063,4094,46.1,-11.5,63,425,0.00,1.05,0.00,0.000,260,0.000,0.046,1789,2372,3064,3064,4095,0,0,0,0,0,0,26.52,26.14,26.53,10.39,49.48
$GC,495,-1.78,-487.5,1788,2372,3065,4095,55.2,-12.3,75,502,0.00,1.05,0.00,0.000,1030,0.000,0.031,1789,1952,3065,3065,4094,0,0,0,0,0,0,26.26,26.22,26.29,10.38,49.09
$STATE,531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,532,begin apogee
$GC,542,-0.45,0.0,1789,2140,3066,4095,60.3,-12.6,81,578,4.28,0.00,28.10,1.315,10244,0.053,0.000,2186,2140,2484,2484,4095,0,0,0,0,0,0,26.19,25.34,24.31,10.38,48.46
$STATE,579,end apogee,CONTROL_FINISHED_OK
$STATE,579,begin climb
$GC,583,1.78,487.5,2185,2140,2484,4095,63.3,0.0,87,626,7.45,1.12,27.83,1.282,10500,0.030,0.051,2892,2559,1915,1915,4094,0,0,0,0,0,0,25.53,25.46,23.91,10.25,47.95
$GC,642,1.78,487.5,2891,2559,1915,4094,59.3,11.4,96,649,0.00,1.08,0.00,0.000,1030,0.000,0.026,2892,2139,1915,1915,4094,0,0,0,0,0,0,25.25,25.22,25.27,10.12,46.61
$GC,683,1.78,487.5,2891,2138,1914,4094,54.0,12.9,102,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2139,1914,1914,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.12,47.55
$GC,722,1.78,487.5,2891,2138,1913,4094,48.6,13.8,108,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2139,1913,1913,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.11,46.96
$GC,762,1.78,487.5,2892,2138,1912,4094,43.1,13.7,114,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2139,1911,1911,4094,0,0,0,0,0,0,25.91,25.94,25.93,10.10,46.85
$GC,801,1.78,487.5,2891,2138,1910,4094,37.7,13.3,120,808,0.00,1.10,0.00,0.000,516,0.000,0.047,2892,1717,1910,1910,4095,0,0,0,0,0,0,26.00,25.63,26.01,10.10,47.16
$GC,896,1.78,487.5,2891,1717,1907,4095,25.9,12.2,135,902,0.00,1.00,0.00,0.000,1030,0.000,0.031,2892,2124,1907,1907,4094,0,0,0,0,0,0,25.89,25.86,25.92,10.12,48.74
$GC,936,1.78,487.5,2892,2123,1906,4094,21.2,11.5,141,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2124,1906,1906,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.14,49.21
$GC,976,1.78,487.5,2891,2123,1905,4094,16.9,11.1,147,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2124,1905,1905,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.16,50.94
$GC,1016,1.78,487.5,2892,2123,1904,4094,12.7,10.8,153,1022,0.00,1.08,0.00,0.000,516,0.000,0.047,2892,1718,1904,1904,4095,0,0,0,0,0,0,26.29,25.91,26.29,10.18,52.40
$GC,1110,1.79,492.5,2891,1717,1901,4095,2.2,10.5,168,1117,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2129,1901,1901,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.20,53.50
$STATE,1122,end climb,FINISH_DEPTH_REACHED
$STATE,1122,begin subsurface finish
$FINISH1,0.7,1.024378,85
$GC,1133,0.13,85.1,2892,2129,1901,4094,0.7,10.1,170,1147,5.22,1.17,-4.32,0.000,20996,0.024,1.258,2382,1713,2390,2390,4094,0,0,0,0,0,0,26.09,24.39,26.15,10.20,53.11
$FINISH2,0.1
$STATE,1148,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1148,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,095435
$TT8_MAMPS,0.025466,0.110103
$HUMID,53.30
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.91,45.998
$10V_AH,10.38,45.230
$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,22.950,14.975,55.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,448.185,280.280,136.046,249.420,95.077,0.000,315.774,0.000,258.283,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1258.425,1315.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,14238,172
$CAP_FILE_SIZE,28483,0
$CFSIZE,1024409600,939933696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,110908,6112.776,-17351.547,5,0.9,17,7.0,0.0,104.7,10,4.4