version: 66.13
glider: 401
mission: 22
dive: 1621
start: 8 24 117 12 22 14
data:
$ID,401
$MISSION,22
$DIVE,1621
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,240817,121234,6111.8438,-17351.7734,8,0.9,13,7.0,0.0,223.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-41.8
$GPS2,240817,122137,6111.7827,-17351.8477,5,0.9,17,7.0,0.6,206.3,10,4.6
$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,165.6,14610,-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,10,-1.78,-487.5,229,1941,1905,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.095,0.000,702,1942,1905,1905,4093,0,0,0,0,0,0,26.22,28.83,28.83,10.26,51.41
$GC,23,-1.78,-487.5,702,1943,1905,4093,0.7,0.0,1,54,11.60,1.23,-10.73,0.000,18692,0.052,1.250,1764,2374,3055,3055,4094,0,0,0,0,0,0,25.89,24.21,25.96,10.26,51.61
$GC,276,-1.78,-487.5,1763,2374,3062,4094,31.0,-12.4,42,282,0.00,1.05,0.00,0.000,1030,0.000,0.029,1764,1957,3062,3062,4095,0,0,0,0,0,0,26.08,26.04,26.10,10.47,50.31
$GC,316,-1.78,-487.5,1763,1957,3062,4095,36.2,-12.5,48,323,0.00,1.10,0.00,0.000,516,0.000,0.050,1764,1523,3062,3062,4095,0,0,0,0,0,0,26.38,25.99,26.39,10.44,49.76
$GC,387,-1.78,-487.5,1763,1522,3064,4095,45.3,-12.7,59,393,0.00,1.00,0.00,0.000,1030,0.000,0.025,1763,1950,3064,3064,4095,0,0,0,0,0,0,26.18,26.17,26.20,10.41,49.09
$GC,427,-1.78,-487.5,1763,1950,3065,4095,50.3,-12.8,65,434,0.00,1.08,0.00,0.000,260,0.000,0.045,1764,2367,3066,3066,4094,0,0,0,0,0,0,26.46,26.07,26.46,10.40,47.95
$GC,497,-1.78,-487.5,1763,2367,3067,4094,59.5,-13.2,76,504,0.00,1.02,0.00,0.000,1030,0.000,0.029,1764,1959,3066,3066,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.38,47.83
$STATE,509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,509,begin apogee
$GC,519,-0.45,0.0,1764,2140,3067,4094,61.6,-13.1,78,555,4.55,0.00,28.25,1.343,10244,0.053,0.000,2185,2140,2484,2484,4095,0,0,0,0,0,0,26.11,25.25,24.22,10.38,47.20
$STATE,556,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,561,1.78,487.5,2185,2141,2484,4095,64.7,0.0,84,603,7.45,1.12,27.85,1.298,10500,0.031,0.051,2893,2559,1915,1915,4094,0,0,0,0,0,0,25.46,25.44,23.83,10.26,46.65
$GC,837,1.78,487.5,2892,2558,1908,4094,30.4,13.8,129,844,0.00,1.05,0.00,0.000,1030,0.000,0.025,2893,2136,1908,1908,4094,0,0,0,0,0,0,25.86,25.86,25.87,10.12,47.36
$GC,878,1.78,487.5,2892,2135,1907,4094,24.8,13.5,135,884,0.00,1.17,0.00,0.000,260,0.000,0.052,2893,2559,1906,1906,4095,0,0,0,0,0,0,26.15,25.76,26.16,10.12,48.70
$STATE,1072,end climb,FINISH_DEPTH_REACHED
$STATE,1072,begin subsurface finish
$FINISH1,1.9,1.024385,85
$GC,1084,0.13,84.7,2893,2130,1901,4094,1.9,11.1,167,1098,5.43,0.00,-4.32,0.000,20486,0.045,0.000,2378,2123,2390,2390,4095,0,0,0,0,0,0,26.12,24.58,26.16,10.20,52.55
$FINISH2,0.2
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,110341
$TT8_MAMPS,0.026215,0.161784
$HUMID,52.87
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.83,46.058
$10V_AH,10.26,45.278
$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,34.650,11.350,56.100,0.000,0.000,22.870,17.180,272.964,0.000,0.000,18.921,438.586,298.856,117.066,529.426,267.894,0.000,282.939,0.000,255.693,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,1250.010,1342.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.276,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,14301,169
$CAP_FILE_SIZE,26249,0
$CFSIZE,1024409600,939835392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,122137,6111.783,-17351.848,5,0.9,17,7.0,0.6,206.3,10,4.6