version: 66.13
glider: 401
mission: 22
dive: 1634
start: 8 24 117 17 38 2
data:
$ID,401
$MISSION,22
$DIVE,1634
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,240817,171740,6109.8916,-17354.6523,8,0.8,19,7.0,0.0,308.2,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.8
$GPS2,240817,171740,6109.8916,-17354.6523,8,0.8,19,7.0,0.0,308.2,11,5.0
$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,151.2,11834,-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,-487.5,2378,1944,2394,4092,0.0,0.0,0,20,6.22,0.00,-1.25,0.000,20482,0.024,0.000,1771,1944,2530,2530,4095,0,0,0,0,0,0,26.17,28.83,26.22,10.34,52.44
$GC,25,-1.78,-487.5,1770,1944,2529,4095,0.1,0.0,1,35,0.00,1.17,-4.90,0.000,16900,0.000,1.268,1771,1522,3057,3057,4094,0,0,0,0,0,0,26.41,24.43,26.42,10.37,52.20
$GC,293,-1.78,-487.5,1770,1521,3063,4094,30.2,-13.1,40,302,0.00,1.00,0.00,0.000,1030,0.000,0.024,1771,1956,3063,3063,4095,0,0,0,0,0,0,26.27,26.24,26.30,10.45,51.73
$GC,341,-1.78,-487.5,1770,1956,3064,4095,35.8,-12.0,46,351,0.00,1.05,0.00,0.000,260,0.000,0.044,1771,2361,3064,3064,4095,0,0,0,0,0,0,26.54,26.15,26.55,10.43,51.02
$GC,415,-1.78,-487.5,1770,2360,3066,4095,45.2,-12.2,56,425,0.00,1.00,0.00,0.000,1030,0.000,0.031,1770,1963,3066,3066,4095,0,0,0,0,0,0,26.29,26.25,26.31,10.42,50.03
$GC,463,-1.78,-487.5,1770,1963,3067,4095,51.3,-12.6,62,473,0.00,1.12,0.00,0.000,516,0.000,0.053,1770,1519,3066,3066,4094,0,0,0,0,0,0,26.58,26.17,26.60,10.39,49.05
$STATE,526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,526,begin apogee
$GC,538,-0.45,0.0,1770,2134,3069,4095,60.0,-12.8,71,573,4.45,0.00,28.30,1.332,10244,0.053,0.000,2186,2135,2484,2484,4094,0,0,0,0,0,0,26.22,25.37,24.32,10.38,48.14
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,579,1.78,487.5,2186,2134,2484,4094,63.4,0.0,75,623,7.47,0.00,27.88,1.287,11270,0.029,0.000,2891,2134,1915,1915,4094,0,0,0,0,0,0,25.63,25.79,23.91,10.27,47.48
$GC,663,1.78,487.5,2891,2134,1914,4094,56.5,13.4,85,673,0.00,1.15,0.00,0.000,516,0.000,0.045,2891,1710,1914,1914,4094,0,0,0,0,0,0,25.62,25.30,25.63,10.13,46.14
$GC,770,1.78,487.5,2891,1710,1911,4094,42.0,12.9,100,779,0.00,1.08,0.00,0.000,1030,0.000,0.030,2892,2141,1911,1911,4094,0,0,0,0,0,0,25.70,25.66,25.72,10.13,46.53
$GC,818,1.78,487.5,2891,2141,1909,4094,36.0,12.6,106,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2141,1909,1909,4094,0,0,0,0,0,0,26.06,26.06,26.06,10.13,47.40
$GC,865,1.78,487.5,2891,2141,1908,4094,29.9,13.1,112,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2141,1908,1908,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.13,47.99
$GC,912,1.78,487.5,2891,2141,1908,4094,24.2,12.2,118,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2141,1907,1907,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.14,47.99
$GC,958,1.78,487.5,2891,2141,1905,4094,18.5,11.9,124,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2142,1905,1905,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.17,49.76
$GC,1005,1.78,487.5,2891,2141,1904,4094,13.2,11.2,130,1015,0.00,1.12,0.00,0.000,516,0.000,0.046,2892,1715,1904,1904,4094,0,0,0,0,0,0,26.29,25.91,26.30,10.19,50.74
$GC,1098,1.78,487.5,2891,1714,1900,4094,2.7,11.9,143,1108,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2137,1901,1901,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.21,51.92
$STATE,1116,end climb,FINISH_DEPTH_REACHED
$STATE,1116,begin subsurface finish
$FINISH1,0.2,1.024414,83
$GC,1127,0.12,82.7,2892,2142,1901,4094,0.2,12.0,145,1145,5.22,0.00,-4.45,0.000,20486,0.024,0.000,2379,2138,2397,2397,4095,0,0,0,0,0,0,26.13,25.45,26.17,10.21,52.24
$FINISH2,0.2
$STATE,1146,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1146,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,160044
$TT8_MAMPS,0.025466,0.245672
$HUMID,51.92
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.91,46.435
$10V_AH,10.15,45.597
$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,23.375,11.750,56.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,402.695,0.000,104.043,612.401,87.564,0.000,320.226,0.000,357.487,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1268.370,1331.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.533,399.391,316.063,468.602,611.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,14412,147
$CAP_FILE_SIZE,23960,0
$CFSIZE,1024409600,939196416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,171740,6109.892,-17354.652,8,0.8,19,7.0,0.0,308.2,11,5.0