version: 66.13
glider: 401
mission: 22
dive: 1642
start: 8 24 117 20 50 39
data:
$ID,401
$MISSION,22
$DIVE,1642
$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,29
$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
$GPS1,240817,204030,6109.7676,-17351.9688,9,0.8,20,7.0,0.0,68.7,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-40.0
$GPS2,240817,205003,6109.7944,-17351.8945,6,0.9,41,7.0,0.6,240.1,9,4.7
$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,162.9,10977,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.78,-487.5,236,1939,1900,4092,0.0,0.0,0,21,8.50,0.00,0.00,0.000,2049,0.105,0.000,938,1938,1901,1901,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.10
$GC,26,-1.78,-487.5,937,1938,1901,4094,0.9,0.0,1,54,8.82,1.25,-10.75,0.000,18692,0.042,1.246,1761,2370,3057,3057,4095,0,0,0,0,0,0,25.93,24.30,25.96,10.26,51.22
$GC,311,-1.78,-487.5,1761,2370,3064,4095,35.9,-13.0,42,320,0.00,1.05,0.00,0.000,1030,0.000,0.029,1761,1953,3064,3064,4095,0,0,0,0,0,0,26.12,26.08,26.14,10.46,49.25
$GC,359,-1.78,-487.5,1761,1953,3066,4095,41.9,-13.0,48,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3066,3066,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.44,49.44
$GC,406,-1.78,-487.5,1761,1953,3067,4095,48.2,-13.8,54,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3067,3067,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.42,48.66
$GC,452,-1.78,-487.5,1761,1953,3068,4094,54.5,-13.2,60,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1953,3067,3067,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.41,47.36
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,504,-0.45,0.0,1761,2143,3069,4094,60.6,-13.6,66,547,4.57,0.00,28.38,1.323,10244,0.054,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.12,25.29,24.25,10.40,47.48
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,553,1.78,487.5,2187,2142,2484,4094,64.4,0.0,71,597,7.53,0.00,27.90,1.290,11270,0.031,0.000,2893,2142,1915,1915,4094,0,0,0,0,0,0,25.58,25.75,23.87,10.28,46.14
$GC,637,1.78,487.5,2892,2142,1914,4094,57.7,12.7,81,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2143,1914,1914,4094,0,0,0,0,0,0,25.60,25.60,25.60,10.14,44.92
$GC,686,1.78,487.5,2892,2142,1912,4094,50.9,14.0,87,695,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1710,1912,1912,4095,0,0,0,0,0,0,25.79,25.45,25.79,10.14,45.07
$GC,773,1.78,487.5,2893,1709,1910,4095,39.0,13.4,99,782,0.00,1.05,0.00,0.000,1030,0.000,0.030,2893,2133,1909,1909,4095,0,0,0,0,0,0,25.75,25.71,25.78,10.13,46.53
$GC,821,1.78,487.5,2892,2133,1908,4095,32.8,12.9,105,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1908,1908,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.14,46.29
$GC,868,1.78,487.5,2892,2133,1907,4094,26.8,12.7,111,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1906,1906,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.15,46.81
$GC,915,1.78,487.5,2892,2133,1905,4094,21.1,11.8,117,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1905,1905,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.17,48.14
$GC,962,1.78,487.5,2892,2133,1904,4094,15.8,11.2,123,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1904,1904,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.19,49.33
$GC,1009,1.78,487.5,2892,2133,1902,4094,10.4,11.3,129,1018,0.00,1.12,0.00,0.000,516,0.000,0.047,2893,1708,1902,1902,4094,0,0,0,0,0,0,26.31,25.92,26.32,10.20,50.63
$STATE,1085,end climb,FINISH_DEPTH_REACHED
$STATE,1085,begin subsurface finish
$FINISH1,1.3,1.024413,83
$GC,1097,0.12,82.7,2893,2151,1900,4095,1.3,11.6,140,1117,5.25,1.23,-4.40,0.000,20996,0.025,1.250,2379,1710,2390,2390,4094,0,0,0,0,0,0,26.12,24.49,26.16,10.21,51.77
$FINISH2,0.1
$STATE,1118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,193406
$TT8_MAMPS,0.024717,0.244174
$HUMID,51.29
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.87,46.659
$10V_AH,10.13,45.785
$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,34.675,8.450,56.275,0.000,0.000,25.765,31.965,264.608,0.000,0.000,42.397,391.698,0.000,115.072,915.660,278.652,0.000,345.337,0.000,348.631,0.000,0.543,0.000
$DEVICE_MAMPS,104.805,1250.010,1322.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.652,385.853,305.269,452.479,591.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329256
$DATA_FILE_SIZE,14272,142
$CAP_FILE_SIZE,27472,0
$CFSIZE,1024409600,938803200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,205003,6109.794,-17351.895,6,0.9,41,7.0,0.6,240.1,9,4.7