version: 66.13
glider: 401
mission: 22
dive: 1609
start: 8 24 117 7 28 12
data:
$ID,401
$MISSION,22
$DIVE,1609
$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,46
$R_STBD_OVSHOOT,50
$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
$GPS1,240817,071608,6114.5244,-17353.8418,8,0.8,44,7.0,0.7,45.9,10,4.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-37.5
$GPS2,240817,072732,6114.5923,-17353.7168,5,0.7,27,7.0,0.7,304.4,11,5.0
$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,162.7,20011,-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,-487.5,237,1970,1752,4092,0.0,0.0,0,18,5.85,0.00,0.00,0.000,2049,0.097,0.000,730,1971,1752,1752,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.23,51.96
$GC,23,-1.78,-487.5,729,1970,1752,4094,0.8,0.0,1,53,11.07,1.15,-12.05,0.000,19204,0.041,1.257,1764,1541,3053,3053,4094,0,0,0,0,0,0,25.89,24.25,25.97,10.23,51.53
$GC,63,-1.78,-487.5,1764,1541,3053,4094,0.0,0.1,7,69,0.00,0.93,0.00,0.000,1030,0.000,0.030,1764,1928,3053,3053,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.51,51.85
$GC,103,-1.78,-487.5,1764,1930,3053,4094,-0.0,-0.0,13,110,0.00,1.12,0.00,0.000,260,0.000,0.026,1764,2384,3053,3053,4095,0,0,0,0,0,0,26.20,25.92,26.20,10.52,51.77
$GC,119,-1.78,-487.5,1764,2383,3053,4095,0.1,-0.3,15,126,0.00,1.08,0.00,0.000,1030,0.000,0.031,1764,1962,3052,3052,4095,0,0,0,0,0,0,25.93,25.89,25.96,10.51,51.14
$GC,160,-1.78,-487.5,1764,1962,3054,4095,4.4,-13.1,21,166,0.00,1.12,0.00,0.000,516,0.000,0.049,1764,1516,3054,3054,4094,0,0,0,0,0,0,26.26,25.88,26.27,10.52,50.74
$GC,388,-1.78,-487.5,1764,1516,3060,4094,38.5,-13.4,58,395,0.00,0.95,0.00,0.000,1030,0.000,0.026,1764,1925,3061,3061,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.44,49.21
$GC,429,-1.78,-487.5,1764,1926,3061,4095,43.8,-13.3,64,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1926,3062,3062,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.43,48.46
$GC,468,-1.78,-487.5,1764,1925,3062,4095,48.8,-13.2,70,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1926,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.41,47.67
$GC,508,-1.78,-487.5,1763,1926,3064,4095,54.0,-12.7,76,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1926,3064,3064,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.40,47.32
$GC,547,-1.78,-487.5,1764,1926,3064,4094,59.1,-13.3,82,553,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1926,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.39,47.04
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,568,-0.45,0.0,1764,2135,3065,4095,61.1,-13.0,84,604,4.53,0.00,28.05,1.311,10244,0.054,0.000,2186,2136,2484,2484,4095,0,0,0,0,0,0,26.15,25.32,24.27,10.39,47.67
$STATE,605,end apogee,CONTROL_FINISHED_OK
$STATE,606,begin climb
$GC,610,1.78,487.5,2185,2136,2484,4095,64.1,0.0,90,651,7.50,0.00,27.77,1.282,11270,0.031,0.000,2892,2135,1916,1916,4095,0,0,0,0,0,0,25.59,25.75,23.87,10.27,46.25
$GC,685,1.78,487.5,2891,2135,1915,4095,57.8,13.1,102,692,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1711,1914,1914,4094,0,0,0,0,0,0,25.56,25.26,25.57,10.14,45.94
$GC,798,1.78,487.5,2892,1710,1911,4094,42.0,13.8,120,804,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2126,1911,1911,4094,0,0,0,0,0,0,25.70,25.65,25.72,10.12,46.88
$GC,838,1.78,487.5,2892,2125,1910,4094,36.6,13.7,126,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1909,1909,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.11,46.41
$GC,878,1.78,487.5,2891,2125,1908,4094,31.4,12.6,132,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1908,1908,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.13,46.77
$GC,918,1.78,487.5,2891,2125,1907,4094,26.2,13.2,138,924,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1710,1907,1907,4094,0,0,0,0,0,0,26.15,25.78,26.17,10.13,47.36
$GC,1006,1.78,487.5,2892,1709,1905,4094,15.6,11.8,152,1012,0.00,1.02,0.00,0.000,1030,0.000,0.031,2892,2126,1904,1904,4094,0,0,0,0,0,0,25.98,25.95,26.01,10.17,49.21
$GC,1046,1.78,487.5,2892,2126,1903,4094,10.9,11.6,158,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1903,1903,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.19,51.49
$GC,1087,1.83,524.1,2891,2126,1902,4094,6.7,10.0,164,1095,0.10,1.10,3.22,0.311,10756,0.077,0.046,2909,1709,1872,1872,4094,0,0,0,0,0,0,26.12,25.73,24.79,10.20,51.53
$STATE,1125,end climb,FINISH_DEPTH_REACHED
$STATE,1125,begin subsurface finish
$FINISH1,1.7,1.024365,86
$GC,1137,0.13,86.0,2908,2138,1870,4094,1.7,11.4,170,1151,5.55,1.23,-4.50,0.000,20996,0.039,1.255,2377,1708,2388,2388,4094,0,0,0,0,0,0,26.12,24.39,26.15,10.20,52.04
$FINISH2,0.3
$STATE,1152,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1153,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,071941
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.44
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.87,45.720
$10V_AH,10.27,44.996
$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,34.600,14.575,59.050,0.000,0.000,50.002,48.913,295.730,0.000,0.000,28.299,453.364,313.162,153.694,630.408,298.846,0.000,343.195,0.000,259.772,0.000,0.544,0.000
$DEVICE_MAMPS,97.155,1256.895,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,115.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,14228,172
$CAP_FILE_SIZE,35129,0
$CFSIZE,1024409600,940408832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,072732,6114.592,-17353.717,5,0.7,27,7.0,0.7,304.4,11,5.0