version: 66.13
glider: 401
mission: 22
dive: 1631
start: 8 24 117 16 27 55
data:
$ID,401
$MISSION,22
$DIVE,1631
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,240817,160601,6109.9663,-17354.5703,6,0.8,6,7.0,0.9,247.7,9,0.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-0.0
$GPS2,240817,160601,6109.9663,-17354.5703,6,0.8,6,7.0,0.9,247.7,9,0.0
$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,151.7,11936,-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,-487.5,2381,1966,2390,4092,0.0,0.0,0,17,5.62,0.00,0.00,0.000,4097,0.023,0.000,1830,1966,2390,2390,4094,0,0,0,0,0,0,26.37,28.83,28.83,10.33,52.24
$GC,22,-1.78,-487.5,1829,1966,2390,4094,0.1,0.0,1,35,0.38,1.20,-6.20,0.000,20996,0.033,1.264,1782,1529,3054,3054,4094,0,0,0,0,0,0,26.14,24.46,26.16,10.33,52.04
$GC,164,-1.78,-487.5,1781,1529,3058,4094,16.4,-16.4,23,171,0.00,0.98,0.00,0.000,1030,0.000,0.029,1782,1938,3058,3058,4094,0,0,0,0,0,0,26.14,26.11,26.16,10.48,51.89
$GC,205,-1.78,-487.5,1781,1937,3059,4094,23.4,-14.5,29,211,0.00,1.15,0.00,0.000,260,0.000,0.047,1781,2373,3059,3059,4095,0,0,0,0,0,0,26.41,26.03,26.43,10.48,51.81
$GC,281,-1.78,-487.5,1781,2373,3061,4095,33.4,-12.9,41,288,0.00,1.02,0.00,0.000,1030,0.000,0.030,1782,1970,3061,3061,4095,0,0,0,0,0,0,26.20,26.16,26.22,10.44,51.92
$GC,322,-1.78,-487.5,1781,1969,3062,4095,38.3,-12.6,47,329,0.00,1.15,0.00,0.000,516,0.000,0.051,1782,1519,3062,3062,4094,0,0,0,0,0,0,26.48,26.08,26.50,10.42,50.63
$GC,392,-1.78,-487.5,1781,1518,3064,4094,47.4,-12.8,58,399,0.00,1.05,0.00,0.000,1030,0.000,0.027,1782,1963,3064,3064,4094,0,0,0,0,0,0,26.27,26.23,26.28,10.39,49.33
$GC,433,-1.78,-487.5,1781,1963,3064,4094,52.5,-12.5,64,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1963,3065,3065,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.38,48.81
$GC,473,-1.78,-487.5,1781,1963,3066,4094,57.6,-12.5,70,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1963,3066,3066,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.38,48.85
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,500,-0.45,0.0,1781,2144,3066,4094,60.3,-12.6,73,536,4.32,0.00,27.98,1.318,10244,0.053,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.17,25.34,24.30,10.38,48.70
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,541,1.78,487.5,2185,2144,2484,4094,63.2,0.0,79,583,7.50,0.00,27.77,1.283,11270,0.030,0.000,2891,2144,1915,1915,4094,0,0,0,0,0,0,25.60,25.77,23.89,10.25,47.63
$GC,618,1.78,487.5,2890,2144,1914,4094,56.7,13.2,91,624,0.00,1.17,0.00,0.000,516,0.000,0.044,2891,1710,1913,1913,4094,0,0,0,0,0,0,25.56,25.27,25.57,10.13,46.41
$GC,718,1.78,487.5,2890,1710,1911,4094,43.1,13.4,107,725,0.00,1.02,0.00,0.000,1030,0.000,0.029,2891,2124,1911,1911,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.11,46.81
$GC,759,1.78,487.5,2890,2124,1909,4094,37.7,13.4,113,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1909,1909,4094,0,0,0,0,0,0,26.00,26.02,26.01,10.11,47.48
$GC,798,1.78,487.5,2890,2124,1908,4094,32.3,13.4,119,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1908,1908,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.12,47.91
$GC,838,1.78,487.5,2890,2124,1907,4094,27.1,13.7,125,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1907,1907,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.13,48.26
$GC,878,1.78,487.5,2890,2124,1906,4094,22.0,12.3,131,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1905,1905,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.16,49.40
$GC,917,1.78,487.5,2891,2124,1904,4094,17.4,12.0,137,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2124,1904,1904,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.18,50.51
$GC,957,1.78,487.5,2890,2123,1903,4094,12.9,11.3,143,963,0.00,1.10,0.00,0.000,516,0.000,0.044,2891,1706,1903,1903,4094,0,0,0,0,0,0,26.27,25.90,26.29,10.19,51.57
$GC,1033,1.80,501.2,2891,1705,1901,4094,4.8,10.3,155,1040,0.00,1.02,0.00,0.000,1030,0.000,0.032,2891,2121,1901,1901,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.20,52.24
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1058,begin subsurface finish
$FINISH1,1.4,1.024412,83
$GC,1068,0.12,82.7,2891,2121,1900,4094,1.4,11.6,159,1082,5.22,0.00,-4.43,0.000,20486,0.024,0.000,2381,2122,2393,2393,4095,0,0,0,0,0,0,26.09,24.58,26.15,10.21,52.36
$FINISH2,0.1
$STATE,1083,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1083,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,144251
$TT8_MAMPS,0.025466,0.10486
$HUMID,52.95
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.89,46.352
$10V_AH,10.38,45.517
$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,23.050,11.850,55.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,421.176,257.985,135.579,233.731,95.329,0.000,308.805,0.000,242.789,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1263.780,1318.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,10787,161
$CAP_FILE_SIZE,27293,0
$CFSIZE,1024409600,939343872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,160601,6109.966,-17354.570,6,0.8,6,7.0,0.9,247.7,9,0.0