version: 66.13
glider: 401
mission: 22
dive: 1648
start: 8 24 117 23 22 30
data:
$ID,401
$MISSION,22
$DIVE,1648
$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,25
$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
$GPS1,240817,230818,6108.6782,-17351.5078,9,0.8,25,7.0,0.2,249.0,11,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-42.4
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.78,-487.5,238,1940,1900,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.093,0.000,961,1941,1901,1901,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.27,51.26
$GC,26,-1.78,-487.5,960,1940,1901,4094,0.8,0.0,1,54,8.52,1.25,-10.73,0.000,18692,0.040,1.239,1766,2383,3055,3055,4095,0,0,0,0,0,0,25.96,24.33,26.03,10.28,51.41
$GC,298,-1.78,-487.5,1765,2383,3062,4095,34.9,-13.8,40,307,0.00,1.08,0.00,0.000,1030,0.000,0.029,1766,1951,3062,3062,4095,0,0,0,0,0,0,26.12,26.08,26.21,10.47,49.64
$GC,346,-1.78,-487.5,1765,1950,3064,4095,41.4,-13.5,46,355,0.00,1.05,0.00,0.000,516,0.000,0.050,1766,1528,3064,3064,4095,0,0,0,0,0,0,26.44,26.04,26.45,10.45,48.18
$GC,413,-1.78,-487.5,1764,1528,3066,4095,50.6,-13.3,55,422,0.00,0.98,0.00,0.000,1030,0.000,0.026,1766,1949,3066,3066,4094,0,0,0,0,0,0,26.24,26.21,26.25,10.43,47.63
$GC,461,-1.78,-487.5,1765,1949,3067,4094,56.7,-12.8,61,470,0.00,1.08,0.00,0.000,260,0.000,0.046,1766,2367,3067,3067,4095,0,0,0,0,0,0,26.50,26.11,26.51,10.42,46.88
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,495,-0.45,0.0,1766,2119,3067,4095,60.4,-13.0,64,532,4.50,0.00,28.35,1.327,10244,0.054,0.000,2186,2117,2484,2484,4095,0,0,0,0,0,0,26.13,25.29,24.25,10.41,46.88
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,537,1.78,487.5,2186,2117,2484,4095,63.7,0.0,68,581,7.47,0.00,27.98,1.280,11270,0.030,0.000,2892,2117,1915,1915,4094,0,0,0,0,0,0,25.56,25.72,23.86,10.28,46.25
$GC,621,1.78,487.5,2891,2117,1914,4094,56.9,13.2,78,630,0.00,1.00,0.00,0.000,516,0.000,0.044,2892,1736,1914,1914,4094,0,0,0,0,0,0,25.60,25.29,25.60,10.15,44.99
$GC,670,1.78,487.5,2891,1736,1913,4094,49.8,14.3,84,680,0.00,0.98,0.00,0.000,1030,0.000,0.029,2892,2128,1912,1912,4094,0,0,0,0,0,0,25.55,25.51,25.58,10.15,44.76
$GC,719,1.78,487.5,2891,2127,1911,4094,43.0,13.6,90,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1911,1911,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.15,45.15
$GC,768,1.78,487.5,2892,2127,1910,4094,36.6,13.1,96,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1910,1910,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.14,45.94
$GC,816,1.78,487.5,2891,2128,1908,4094,30.2,13.3,102,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1908,1908,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.15,46.41
$GC,865,1.78,487.5,2891,2128,1907,4094,24.1,12.7,108,874,0.00,1.02,0.00,0.000,516,0.000,0.043,2892,1737,1906,1906,4094,0,0,0,0,0,0,26.18,25.82,26.20,10.17,47.36
$GC,1004,1.78,487.5,2891,1737,1902,4094,7.6,11.8,128,1013,0.00,0.98,0.00,0.000,1030,0.000,0.030,2892,2138,1901,1901,4094,0,0,0,0,0,0,26.07,26.02,26.08,10.22,50.31
$STATE,1047,end climb,FINISH_DEPTH_REACHED
$STATE,1047,begin subsurface finish
$FINISH1,2.0,1.024379,85
$GC,1058,0.13,85.1,2892,2137,1900,4094,2.0,11.9,134,1076,5.15,0.00,-4.32,0.000,20486,0.021,0.000,2380,2138,2388,2388,4094,0,0,0,0,0,0,26.12,25.44,26.17,10.23,50.70
$FINISH2,0.2
$STATE,1077,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,231453
$TT8_MAMPS,0.025466,0.248668
$HUMID,51.22
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.86,46.838
$10V_AH,10.14,45.926
$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,34.125,9.975,56.325,0.000,0.000,99.008,81.990,224.574,0.000,0.000,51.962,387.197,134.040,107.216,994.324,280.606,0.000,326.724,0.000,334.249,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,1238.535,1327.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.596,369.444,292.332,433.694,567.297,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329288
$DATA_FILE_SIZE,14321,136
$CAP_FILE_SIZE,29057,0
$CFSIZE,1024409600,938508288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240817,232154,6108.650,-17351.596,5,1.0,50,7.0,0.3,242.8,10,5.9