version: 66.13
glider: 401
mission: 22
dive: 1643
start: 8 24 117 21 11 11
data:
$ID,401
$MISSION,22
$DIVE,1643
$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,26
$R_STBD_OVSHOOT,37
$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
$GPS1,240817,205003,6109.7944,-17351.8945,6,0.9,41,7.0,0.6,240.1,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-2.4
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.78,-487.5,2378,1962,2390,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,4097,0.019,0.000,1823,1964,2390,2390,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.33,51.89
$GC,23,-1.78,-487.5,1822,1964,2390,4094,0.1,0.0,1,36,0.28,1.10,-6.03,0.000,20740,0.039,1.242,1784,2367,3054,3054,4095,0,0,0,0,0,0,26.11,24.44,26.14,10.34,51.41
$GC,210,-1.78,-487.5,1784,2367,3059,4095,25.3,-15.4,31,216,0.00,1.05,0.00,0.000,1030,0.000,0.031,1785,1948,3059,3059,4095,0,0,0,0,0,0,26.11,26.07,26.14,10.47,51.26
$GC,250,-1.78,-487.5,1784,1948,3060,4095,30.9,-13.6,37,257,0.00,1.08,0.00,0.000,516,0.000,0.050,1784,1523,3059,3059,4094,0,0,0,0,0,0,26.43,26.04,26.44,10.45,51.77
$GC,297,-1.78,-487.5,1784,1522,3061,4094,37.2,-13.2,44,303,0.00,0.98,0.00,0.000,1030,0.000,0.026,1784,1943,3061,3061,4094,0,0,0,0,0,0,26.20,26.19,26.23,10.42,50.39
$GC,337,-1.78,-487.5,1784,1943,3062,4094,42.3,-12.6,50,344,0.00,1.10,0.00,0.000,260,0.000,0.045,1784,2363,3062,3062,4094,0,0,0,0,0,0,26.48,26.09,26.48,10.42,49.96
$GC,414,-1.78,-487.5,1784,2363,3064,4094,52.0,-12.9,62,420,0.00,1.00,0.00,0.000,1030,0.000,0.031,1784,1966,3064,3064,4094,0,0,0,0,0,0,26.23,26.20,26.25,10.40,49.29
$GC,454,-1.78,-487.5,1784,1966,3065,4094,57.4,-13.2,68,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1966,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.39,48.66
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,482,-0.45,0.0,1784,2140,3066,4094,60.0,-12.6,71,518,4.30,0.00,28.05,1.317,10244,0.051,0.000,2186,2140,2483,2483,4094,0,0,0,0,0,0,26.16,25.31,24.29,10.38,48.85
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,523,1.78,487.5,2186,2140,2484,4094,62.6,0.0,77,565,7.47,0.00,27.80,1.274,11270,0.031,0.000,2891,2140,1914,1914,4095,0,0,0,0,0,0,25.59,25.75,23.89,10.26,47.71
$GC,599,1.78,487.5,2890,2140,1914,4095,56.1,12.7,89,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2140,1913,1913,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.13,46.45
$GC,639,1.78,487.5,2891,2140,1912,4094,50.6,13.8,95,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2140,1911,1911,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.12,46.29
$GC,679,1.78,487.5,2891,2140,1911,4094,45.1,13.6,101,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2140,1911,1911,4093,0,0,0,0,0,0,25.86,25.87,25.87,10.12,47.16
$GC,719,1.78,487.5,2891,2140,1910,4093,39.8,13.3,107,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2140,1910,1910,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.13,46.88
$GC,758,1.78,487.5,2891,2139,1909,4094,34.5,13.4,113,765,0.00,1.15,0.00,0.000,516,0.000,0.047,2891,1707,1908,1908,4094,0,0,0,0,0,0,26.04,25.66,26.05,10.13,48.18
$GC,865,1.78,487.5,2891,1707,1906,4094,21.7,11.8,130,871,0.00,1.05,0.00,0.000,1030,0.000,0.030,2892,2133,1906,1906,4094,0,0,0,0,0,0,25.93,25.89,25.96,10.16,49.13
$GC,905,1.78,487.5,2891,2133,1904,4094,17.1,10.9,136,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2133,1905,1905,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.17,50.90
$GC,945,1.78,487.5,2891,2133,1903,4094,12.6,11.2,142,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1903,1903,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.19,51.29
$GC,985,1.78,487.5,2891,2133,1902,4094,8.0,11.8,148,991,0.00,1.12,0.00,0.000,516,0.000,0.045,2892,1705,1902,1902,4094,0,0,0,0,0,0,26.32,25.94,26.33,10.20,51.61
$STATE,1039,end climb,FINISH_DEPTH_REACHED
$STATE,1039,begin subsurface finish
$FINISH1,1.4,1.024406,83
$GC,1051,0.12,83.2,2891,2144,1900,4094,1.4,11.2,157,1065,5.22,0.00,-4.35,0.000,20998,0.023,0.000,2380,2144,2393,2393,4094,0,0,0,0,0,0,26.10,24.58,26.16,10.21,52.12
$FINISH2,0.1
$STATE,1066,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1066,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,193406
$TT8_MAMPS,0.025466,0.10486
$HUMID,52.67
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.89,46.680
$10V_AH,10.37,45.795
$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,22.900,11.750,55.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,415.063,255.224,132.963,230.969,91.985,0.000,302.170,0.000,239.883,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1242.360,1316.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,10834,159
$CAP_FILE_SIZE,26473,0
$CFSIZE,1024409600,938754048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,205003,6109.794,-17351.895,6,0.9,41,7.0,0.6,240.1,9,4.7