version: 66.13
glider: 401
mission: 22
dive: 1623
start: 8 24 117 13 2 40
data:
$ID,401
$MISSION,22
$DIVE,1623
$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,22
$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
$GPS1,240817,122137,6111.7827,-17351.8477,5,0.9,17,7.0,0.6,206.3,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.1
$GPS2,240817,122137,6111.7827,-17351.8477,5,0.9,17,7.0,0.6,206.3,10,4.6
$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,165.6,14610,-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,-487.5,2379,1967,2380,4092,0.0,0.0,0,18,6.05,0.00,0.00,0.000,4097,0.024,0.000,1795,1967,2380,2380,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.31,53.46
$GC,23,-1.78,-487.5,1795,1967,2380,4094,0.1,0.0,1,35,0.00,1.17,-6.38,0.000,16644,0.000,1.245,1795,2385,3057,3057,4095,0,0,0,0,0,0,26.32,24.44,26.34,10.31,52.67
$GC,233,-1.78,-487.5,1794,2385,3062,4095,26.5,-12.1,35,239,0.00,1.10,0.00,0.000,1030,0.000,0.031,1794,1947,3062,3062,4095,0,0,0,0,0,0,26.12,26.08,26.15,10.44,52.48
$GC,273,-1.78,-487.5,1794,1947,3063,4095,31.2,-11.9,41,280,0.00,1.08,0.00,0.000,516,0.000,0.053,1795,1524,3063,3063,4095,0,0,0,0,0,0,26.44,26.03,26.45,10.42,52.04
$GC,344,-1.78,-487.5,1794,1524,3065,4095,40.0,-12.5,52,351,0.00,1.00,0.00,0.000,1030,0.000,0.026,1795,1952,3065,3065,4094,0,0,0,0,0,0,26.23,26.20,26.25,10.39,50.55
$GC,385,-1.78,-487.5,1795,1952,3066,4094,44.9,-12.2,58,391,0.00,1.10,0.00,0.000,260,0.000,0.045,1795,2372,3066,3066,4095,0,0,0,0,0,0,26.49,26.12,26.51,10.38,50.27
$GC,467,-1.78,-487.5,1794,2372,3068,4095,54.8,-12.5,71,474,0.00,1.05,0.00,0.000,1030,0.000,0.030,1795,1957,3067,3067,4095,0,0,0,0,0,0,26.25,26.22,26.28,10.37,49.21
$GC,507,-1.78,-487.5,1794,1956,3069,4095,59.9,-12.7,77,514,0.00,1.12,0.00,0.000,516,0.000,0.054,1795,1516,3068,3068,4094,0,0,0,0,0,0,26.54,26.13,26.55,10.37,48.81
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,531,-0.45,0.0,1794,2129,3069,4095,61.9,-12.5,79,567,4.22,0.00,28.27,1.340,10244,0.052,0.000,2186,2129,2484,2484,4094,0,0,0,0,0,0,26.17,25.32,24.27,10.36,48.85
$STATE,568,end apogee,CONTROL_FINISHED_OK
$STATE,568,begin climb
$GC,572,1.78,487.5,2186,2128,2483,4094,64.9,0.0,85,614,7.53,0.00,27.90,1.299,11270,0.031,0.000,2891,2129,1915,1915,4094,0,0,0,0,0,0,25.58,25.74,23.87,10.24,48.62
$GC,648,1.78,487.5,2890,2128,1914,4094,58.5,12.1,97,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2129,1914,1914,4094,0,0,0,0,0,0,25.53,25.55,25.55,10.10,47.12
$GC,688,1.78,487.5,2890,2128,1912,4094,53.1,14.0,103,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2129,1912,1912,4095,0,0,0,0,0,0,25.72,25.73,25.72,10.10,47.55
$GC,727,1.78,487.5,2890,2128,1911,4095,47.7,13.6,109,734,0.00,1.12,0.00,0.000,516,0.000,0.046,2891,1709,1910,1910,4094,0,0,0,0,0,0,25.84,25.50,25.86,10.10,47.36
$GC,774,1.78,487.5,2890,1709,1910,4094,41.4,13.5,116,780,0.00,1.05,0.00,0.000,1030,0.000,0.030,2891,2132,1910,1910,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.09,47.83
$GC,814,1.78,487.5,2890,2131,1908,4094,36.2,12.6,122,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2132,1908,1908,4094,0,0,0,0,0,0,26.03,26.05,26.05,10.09,48.14
$GC,854,1.78,487.5,2891,2131,1907,4094,31.2,12.3,128,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2132,1908,1908,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.10,47.83
$GC,893,1.78,487.5,2890,2131,1906,4095,26.2,12.8,134,900,0.00,1.12,0.00,0.000,516,0.000,0.047,2891,1709,1906,1906,4095,0,0,0,0,0,0,26.15,25.78,26.17,10.10,48.54
$GC,1000,1.78,487.5,2890,1708,1903,4095,13.7,11.1,151,1006,0.00,1.00,0.00,0.000,1030,0.000,0.031,2891,2117,1903,1903,4095,0,0,0,0,0,0,26.01,25.96,26.03,10.16,51.85
$GC,1040,1.81,508.7,2890,2116,1902,4095,9.3,10.2,157,1047,0.00,0.00,2.45,0.171,8198,0.000,0.000,2891,2117,1889,1889,4094,0,0,0,0,0,0,26.31,25.60,24.70,10.17,51.96
$GC,1081,1.81,508.7,2890,2117,1889,4094,4.6,11.5,163,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2117,1888,1888,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.18,53.03
$STATE,1104,end climb,SURFACE_DEPTH_REACHED
$STATE,1104,begin surface coast
$FINISH,0.2,1.024437
$STATE,1124,end surface coast,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$SM_CCo,1228,0.00,0.000,0,0,1887,513.44
$SM_GC,0.91,27.73,0.45,0.00,0.020,0.047,0.000,231,1942,1887,-6.59,1.05,513.44,0,0,0,0,0,0,26.05,26.06,26.11
$IRIDIUM_FIX,6149.06,-17422.35,240817,110341
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.09
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.87,46.101
$10V_AH,10.37,45.320
$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,45.525,14.325,58.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,449.787,339.465,157.552,246.521,101.885,0.000,334.480,0.000,255.503,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1245.420,1339.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,14255,170
$CAP_FILE_SIZE,29535,0
$CFSIZE,1024409600,939737088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,132415,6110.992,-17352.672,8,0.9,26,7.0,0.3,265.5,9,5.0