version: 66.13
glider: 401
mission: 22
dive: 1649
start: 8 24 117 23 42 22
data:
$ID,401
$MISSION,22
$DIVE,1649
$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,23
$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
$GPS1,240817,232154,6108.6499,-17351.5957,5,1.0,50,7.0,0.3,242.8,10,5.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-0.8
$GPS2,240817,232154,6108.6499,-17351.5957,5,1.0,50,7.0,0.3,242.8,10,5.9
$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,162.2,8843,-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,-487.5,2380,1977,2388,4092,0.0,0.0,0,17,5.62,0.00,0.00,0.000,4097,0.023,0.000,1827,1977,2388,2388,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.35,51.37
$GC,22,-1.78,-487.5,1827,1976,2388,4095,0.1,0.0,1,36,0.47,1.10,-6.15,0.000,20740,0.043,1.236,1775,2381,3054,3054,4095,0,0,0,0,0,0,26.06,24.44,26.09,10.34,51.65
$GC,269,-1.78,-487.5,1774,2381,3060,4095,32.2,-13.2,41,276,0.00,1.10,0.00,0.000,1030,0.000,0.031,1775,1941,3060,3060,4094,0,0,0,0,0,0,26.17,26.13,26.19,10.45,50.98
$GC,310,-1.78,-487.5,1774,1941,3061,4094,37.6,-13.6,47,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1941,3062,3062,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.43,50.55
$GC,350,-1.78,-487.5,1774,1941,3062,4095,42.9,-13.3,53,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1941,3062,3062,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.41,49.80
$GC,389,-1.78,-487.5,1774,1941,3063,4095,48.1,-12.9,59,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1940,3063,3063,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.41,49.13
$GC,429,-1.78,-487.5,1774,1941,3064,4094,53.1,-12.6,65,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1941,3064,3064,4094,0,0,0,0,0,0,26.53,26.54,26.55,10.39,49.01
$GC,469,-1.78,-487.5,1774,1941,3064,4094,58.3,-12.9,71,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1941,3065,3065,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.39,48.54
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,490,-0.45,0.0,1774,2143,3066,4095,60.2,-13.2,73,526,4.38,0.00,28.02,1.310,10244,0.053,0.000,2185,2143,2484,2484,4095,0,0,0,0,0,0,26.17,25.34,24.32,10.39,48.54
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,532,1.78,487.5,2185,2143,2484,4095,63.2,0.0,79,574,7.40,1.12,27.70,1.276,10756,0.030,0.042,2895,1712,1916,1916,4094,0,0,0,0,0,0,25.54,25.47,23.91,10.26,47.32
$GC,626,1.78,487.5,2894,1711,1915,4094,55.9,10.9,94,633,0.00,1.05,0.00,0.000,1030,0.000,0.027,2895,2137,1915,1915,4094,0,0,0,0,0,0,25.45,25.42,25.46,10.14,46.49
$GC,667,1.78,487.5,2895,2136,1914,4094,51.2,11.9,100,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2136,1913,1913,4094,0,0,0,0,0,0,25.81,25.83,25.82,10.12,46.33
$GC,707,1.78,487.5,2895,2136,1912,4094,45.7,14.4,106,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2136,1912,1912,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.12,46.61
$GC,747,1.78,487.5,2895,2136,1911,4094,40.3,13.1,112,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2136,1911,1911,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.13,47.51
$GC,786,1.78,487.5,2895,2136,1910,4094,35.3,12.6,118,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2136,1909,1909,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.13,47.79
$GC,826,1.78,487.5,2895,2136,1908,4094,30.2,12.9,124,833,0.00,1.12,0.00,0.000,516,0.000,0.046,2895,1713,1908,1908,4094,0,0,0,0,0,0,26.15,25.77,26.15,10.13,47.99
$GC,896,1.78,487.5,2895,1713,1907,4094,21.8,11.9,135,903,0.00,1.02,0.00,0.000,1030,0.000,0.031,2895,2131,1907,1907,4094,0,0,0,0,0,0,25.96,25.93,25.99,10.17,49.33
$GC,937,1.78,487.5,2895,2130,1905,4094,17.0,11.8,141,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2131,1905,1905,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.18,50.03
$GC,976,1.78,487.5,2895,2131,1904,4094,12.4,11.7,147,983,0.00,1.08,0.00,0.000,516,0.000,0.046,2895,1718,1904,1904,4094,0,0,0,0,0,0,26.31,25.94,26.32,10.20,51.18
$GC,1059,1.78,487.5,2895,1718,1902,4094,2.9,11.5,160,1065,0.00,0.98,0.00,0.000,1030,0.000,0.030,2895,2119,1901,1901,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.21,52.55
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.1,1.024364,86
$GC,1081,0.13,86.1,2895,2118,1901,4094,1.1,11.3,162,1095,5.18,0.00,-4.32,0.000,20486,0.022,0.000,2383,2121,2388,2388,4094,0,0,0,0,0,0,26.13,24.60,26.18,10.21,52.52
$FINISH2,0.1
$STATE,1096,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,231453
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.83
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.91,46.859
$10V_AH,10.39,45.937
$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,23.050,9.500,55.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,424.855,261.644,136.274,238.155,95.933,0.000,310.818,0.000,246.964,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1236.240,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,10842,164
$CAP_FILE_SIZE,26804,0
$CFSIZE,1024409600,938459136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,232154,6108.650,-17351.596,5,1.0,50,7.0,0.3,242.8,10,5.9