version: 66.13
glider: 401
mission: 22
dive: 1625
start: 8 24 117 13 56 12
data:
$ID,401
$MISSION,22
$DIVE,1625
$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,28
$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
$GPS1,240817,133516,6110.9443,-17352.8438,5,0.8,27,7.0,0.5,267.9,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-3.3
$GPS2,240817,133516,6110.9443,-17352.8438,5,0.8,27,7.0,0.5,267.9,10,4.9
$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,160.9,13231,-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,-487.5,2377,1972,2390,4092,0.0,0.0,0,18,5.95,0.00,0.00,0.000,4097,0.021,0.000,1794,1972,2390,2390,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.33,52.04
$GC,23,-1.78,-487.5,1793,1972,2389,4094,0.1,0.0,1,35,0.00,1.20,-6.00,0.000,16900,0.000,1.257,1794,1524,3054,3054,4094,0,0,0,0,0,0,26.32,24.44,26.33,10.33,51.65
$GC,263,-1.78,-487.5,1793,1523,3060,4094,31.6,-12.2,40,269,0.00,1.02,0.00,0.000,1030,0.000,0.027,1794,1957,3060,3060,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.43,51.14
$GC,303,-1.78,-487.5,1793,1957,3061,4094,36.7,-12.9,46,310,0.00,1.08,0.00,0.000,260,0.000,0.046,1794,2367,3061,3061,4095,0,0,0,0,0,0,26.45,26.07,26.46,10.41,50.90
$GC,356,-1.78,-487.5,1793,2367,3062,4095,43.1,-12.2,54,362,0.00,1.02,0.00,0.000,1030,0.000,0.031,1793,1961,3062,3062,4095,0,0,0,0,0,0,26.17,26.15,26.22,10.39,49.52
$GC,396,-1.78,-487.5,1793,1960,3063,4095,48.0,-12.5,60,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1961,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.38,48.85
$GC,436,-1.78,-487.5,1793,1961,3064,4095,53.0,-12.2,66,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,1961,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.38,49.13
$GC,476,-1.78,-487.5,1793,1961,3065,4095,57.7,-12.0,72,482,0.00,1.12,0.00,0.000,516,0.000,0.051,1793,1517,3065,3065,4095,0,0,0,0,0,0,26.53,26.13,26.54,10.38,48.74
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,505,-0.45,0.0,1793,2132,3066,4095,60.6,-12.6,75,541,4.20,0.00,28.10,1.327,10244,0.051,0.000,2185,2132,2484,2484,4094,0,0,0,0,0,0,26.16,25.32,24.27,10.37,48.18
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,547,1.78,487.5,2185,2132,2483,4094,63.7,0.0,81,589,7.53,0.00,27.75,1.290,11270,0.030,0.000,2891,2133,1916,1916,4095,0,0,0,0,0,0,25.59,25.75,23.89,10.25,47.55
$GC,623,1.78,487.5,2891,2132,1916,4095,57.6,12.7,93,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1916,1916,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.12,46.45
$GC,662,1.78,487.5,2891,2132,1914,4094,52.2,14.0,99,669,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1714,1914,1914,4094,0,0,0,0,0,0,25.72,25.40,25.73,10.11,46.77
$GC,733,1.78,487.5,2891,1714,1912,4094,42.8,13.4,110,740,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2127,1912,1912,4095,0,0,0,0,0,0,25.67,25.64,25.70,10.10,47.48
$GC,774,1.78,487.5,2891,2127,1911,4095,37.4,13.8,116,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1911,1911,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.10,47.59
$GC,813,1.78,487.5,2891,2127,1910,4094,32.0,13.5,122,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2128,1909,1909,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.10,47.48
$GC,853,1.78,487.5,2891,2127,1908,4094,26.9,12.7,128,860,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1713,1908,1908,4095,0,0,0,0,0,0,26.14,25.77,26.15,10.11,48.18
$GC,953,1.78,487.5,2891,1713,1905,4095,14.7,11.4,144,960,0.00,1.00,0.00,0.000,1030,0.000,0.031,2891,2120,1905,1905,4094,0,0,0,0,0,0,25.98,25.95,26.01,10.17,50.98
$GC,994,1.78,487.5,2891,2119,1904,4094,10.2,11.3,150,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1904,1904,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,52.36
$GC,1033,1.78,487.5,2891,2119,1903,4094,5.5,12.4,156,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1903,1903,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,52.04
$STATE,1063,end climb,FINISH_DEPTH_REACHED
$STATE,1063,begin subsurface finish
$FINISH1,1.6,1.024397,84
$GC,1073,0.13,83.8,2891,2119,1902,4094,1.6,11.9,161,1087,5.30,0.00,-4.40,0.000,20486,0.034,0.000,2380,2120,2391,2391,4094,0,0,0,0,0,0,26.09,24.57,26.15,10.19,52.83
$FINISH2,0.1
$STATE,1088,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,132741
$TT8_MAMPS,0.026215,0.109354
$HUMID,52.99
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.89,46.164
$10V_AH,10.37,45.370
$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,22.975,11.700,55.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,422.729,264.518,133.684,236.303,91.378,0.000,305.226,0.000,245.613,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1256.895,1327.275,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.529,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,10825,163
$CAP_FILE_SIZE,26252,0
$CFSIZE,1024409600,939638784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,133516,6110.944,-17352.844,5,0.8,27,7.0,0.5,267.9,10,4.9