version: 66.13
glider: 401
mission: 22
dive: 1639
start: 8 24 117 19 40 3
data:
$ID,401
$MISSION,22
$DIVE,1639
$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,41
$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
$GPS1,240817,193034,6109.9536,-17353.1191,8,0.8,18,7.0,0.0,53.3,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-40.2
$GPS2,240817,193927,6110.0088,-17353.0234,5,0.9,20,7.0,0.3,67.0,9,4.7
$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,158.3,11582,-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,6,begin dive
$GC,11,-1.78,-487.5,229,1971,1902,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.093,0.000,705,1972,1902,1902,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.25,51.22
$GC,23,-1.78,-487.5,705,1973,1902,4094,0.8,0.0,1,54,11.50,1.25,-10.68,0.000,19204,0.050,1.263,1765,1528,3056,3056,4095,0,0,0,0,0,0,25.91,24.23,25.95,10.25,51.33
$GC,287,-1.78,-487.5,1764,1527,3064,4095,34.1,-14.1,44,294,0.00,0.98,0.00,0.000,1030,0.000,0.026,1765,1947,3063,3063,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.46,49.72
$GC,328,-1.78,-487.5,1764,1947,3064,4094,39.4,-12.9,50,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1947,3064,3064,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.44,50.27
$GC,368,-1.78,-487.5,1764,1947,3065,4094,44.8,-13.4,56,374,0.00,1.10,0.00,0.000,260,0.000,0.045,1765,2368,3065,3065,4094,0,0,0,0,0,0,26.43,26.05,26.44,10.43,49.01
$GC,438,-1.78,-487.5,1764,2368,3067,4094,54.3,-13.0,67,445,0.00,1.00,0.00,0.000,1030,0.000,0.029,1765,1971,3067,3067,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.41,48.50
$GC,479,-1.78,-487.5,1764,1971,3068,4095,59.5,-12.7,73,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1971,3068,3068,4094,0,0,0,0,0,0,26.49,26.50,26.50,10.40,47.87
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,500,-0.45,0.0,1765,2136,3067,4094,61.4,-12.8,75,536,4.53,0.00,28.35,1.326,10244,0.052,0.000,2185,2136,2484,2484,4095,0,0,0,0,0,0,26.11,25.27,24.23,10.39,47.79
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,541,1.78,487.5,2184,2136,2484,4095,64.6,0.0,81,583,7.55,0.00,27.85,1.287,11270,0.031,0.000,2893,2136,1917,1917,4095,0,0,0,0,0,0,25.55,25.71,23.85,10.27,47.40
$GC,617,1.78,487.5,2893,2136,1915,4095,58.0,13.8,93,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2136,1914,1914,4094,0,0,0,0,0,0,25.53,25.55,25.54,10.14,46.14
$GC,657,1.78,487.5,2893,2136,1914,4094,52.1,15.3,99,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2136,1914,1914,4094,0,0,0,0,0,0,25.72,25.72,25.73,10.13,46.14
$GC,697,1.78,487.5,2894,2136,1913,4094,46.4,14.0,105,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2136,1913,1913,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.13,45.94
$GC,736,1.78,487.5,2893,2136,1912,4094,41.3,12.9,111,743,0.00,1.15,0.00,0.000,516,0.000,0.044,2894,1706,1911,1911,4094,0,0,0,0,0,0,25.94,25.59,25.96,10.13,46.33
$GC,789,1.78,487.5,2893,1705,1910,4094,34.3,13.1,119,795,0.00,1.05,0.00,0.000,1030,0.000,0.030,2894,2129,1909,1909,4095,0,0,0,0,0,0,25.79,25.75,25.81,10.14,47.20
$GC,829,1.78,487.5,2893,2129,1908,4095,28.8,13.9,125,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,1908,1908,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.14,48.11
$GC,869,1.78,487.5,2893,2129,1907,4094,23.5,13.7,131,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,1907,1907,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.15,47.87
$GC,909,1.78,487.5,2893,2129,1906,4094,18.6,11.9,137,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,1906,1906,4094,0,0,0,0,0,0,26.22,26.22,26.22,10.17,49.72
$GC,948,1.78,487.5,2893,2128,1905,4094,14.1,11.2,143,955,0.00,1.12,0.00,0.000,516,0.000,0.047,2894,1705,1905,1905,4094,0,0,0,0,0,0,26.26,25.86,26.27,10.19,50.51
$GC,1037,1.78,487.5,2893,1705,1902,4094,3.9,11.6,157,1043,0.00,1.05,0.00,0.000,1030,0.000,0.030,2894,2133,1902,1902,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.21,51.61
$STATE,1055,end climb,FINISH_DEPTH_REACHED
$STATE,1055,begin subsurface finish
$FINISH1,1.4,1.024418,82
$GC,1065,0.12,82.3,2894,2132,1901,4094,1.4,11.2,160,1079,5.25,0.00,-4.43,0.000,20486,0.021,0.000,2381,2132,2395,2395,4094,0,0,0,0,0,0,26.07,24.56,26.13,10.21,51.89
$FINISH2,0.1
$STATE,1080,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1080,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,182342
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.16
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.85,46.577
$10V_AH,10.26,45.704
$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,34.450,9.100,56.200,0.000,0.000,22.456,17.542,254.866,0.000,0.000,22.094,423.014,254.719,145.064,506.988,292.182,0.000,324.235,0.000,245.765,0.000,0.542,0.000
$DEVICE_MAMPS,92.565,1263.015,1325.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10824,162
$CAP_FILE_SIZE,30770,0
$CFSIZE,1024409600,938950656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,193927,6110.009,-17353.023,5,0.9,20,7.0,0.3,67.0,9,4.7