version: 66.13
glider: 401
mission: 22
dive: 1665
start: 8 25 117 6 0 18
data:
$ID,401
$MISSION,22
$DIVE,1665
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,250817,051912,6106.8667,-17354.6211,5,0.8,18,7.0,0.4,322.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.21
$_SM_ANGLEo,-4.2
$GPS2,250817,051912,6106.8667,-17354.6211,5,0.8,18,7.0,0.4,322.2,11,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W18S
$TGT_LATLONG,6044.340,-17338.881
$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,154.1,44086,-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,11,-1.78,-487.5,2386,1954,2375,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.021,0.000,1839,1954,2375,2375,4095,0,0,0,0,0,0,26.38,28.83,28.83,10.34,52.44
$GC,23,-1.78,-487.5,1839,1954,2375,4095,0.2,0.0,1,36,0.45,1.20,-6.28,0.000,21252,0.038,1.261,1790,1521,3053,3053,4094,0,0,0,0,0,0,26.10,24.46,26.12,10.34,52.32
$GC,53,-1.78,-487.5,1789,1521,3053,4094,0.0,0.5,5,59,0.00,1.02,0.00,0.000,1030,0.000,0.026,1790,1969,3054,3054,4095,0,0,0,0,0,0,26.07,26.05,26.08,10.48,53.42
$GC,93,-1.78,-487.5,1789,1969,3055,4095,3.9,-12.9,11,100,0.00,1.15,0.00,0.000,516,0.000,0.052,1790,1521,3055,3055,4094,0,0,0,0,0,0,26.34,25.94,26.34,10.48,52.24
$GC,334,-1.78,-487.5,1789,1521,3061,4094,38.9,-13.1,50,340,0.00,0.95,0.00,0.000,1030,0.000,0.026,1790,1934,3062,3062,4095,0,0,0,0,0,0,26.26,26.23,26.28,10.43,51.10
$GC,374,-1.78,-487.5,1789,1934,3062,4095,43.9,-12.6,56,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1935,3062,3062,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.42,51.06
$GC,414,-1.78,-487.5,1789,1934,3063,4095,48.7,-12.3,62,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1934,3063,3063,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,50.35
$GC,453,-1.78,-487.5,1789,1935,3064,4095,53.3,-11.6,68,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1935,3064,3064,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.40,49.56
$GC,493,-1.78,-487.5,1789,1935,3065,4095,58.1,-11.9,74,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1935,3066,3066,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.39,49.01
$STATE,511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,511,begin apogee
$GC,521,-0.45,0.0,1789,2136,3066,4095,60.7,-12.2,77,557,4.25,0.00,28.00,1.304,10244,0.052,0.000,2186,2136,2484,2484,4095,0,0,0,0,0,0,26.20,25.37,24.34,10.38,48.74
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,563,1.78,487.5,2185,2136,2484,4095,63.4,0.0,83,605,7.50,0.00,27.67,1.271,11270,0.030,0.000,2893,2136,1916,1916,4094,0,0,0,0,0,0,25.63,25.79,23.93,10.26,47.83
$GC,639,1.78,487.5,2892,2136,1915,4094,56.5,13.7,95,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2136,1915,1915,4094,0,0,0,0,0,0,25.58,25.60,25.60,10.13,46.77
$GC,679,1.78,487.5,2892,2136,1914,4094,51.0,14.0,101,686,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1709,1914,1914,4094,0,0,0,0,0,0,25.76,25.43,25.77,10.13,47.12
$GC,792,1.78,487.5,2892,1709,1910,4094,35.3,13.9,119,798,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2124,1910,1910,4094,0,0,0,0,0,0,25.79,25.76,25.82,10.13,47.55
$GC,832,1.78,487.5,2892,2123,1909,4094,30.0,13.3,125,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2124,1909,1909,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.13,48.46
$GC,872,1.78,487.5,2892,2123,1908,4095,24.9,12.8,131,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2124,1907,1907,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.14,48.77
$GC,912,1.78,487.5,2892,2124,1907,4094,20.3,11.2,137,918,0.00,1.10,0.00,0.000,516,0.000,0.045,2893,1708,1907,1907,4094,0,0,0,0,0,0,26.22,25.84,26.23,10.16,49.96
$GC,988,1.78,487.5,2892,1708,1905,4094,11.6,11.3,149,995,0.00,1.02,0.00,0.000,1030,0.000,0.030,2893,2128,1904,1904,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.19,52.04
$GC,1029,1.78,487.5,2892,2128,1903,4094,6.8,11.8,155,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1903,1903,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.20,52.20
$GC,1068,1.78,487.5,2892,2128,1902,4094,2.1,11.8,161,1075,0.00,1.10,0.00,0.000,516,0.000,0.044,2893,1709,1902,1902,4095,0,0,0,0,0,0,26.36,25.98,26.38,10.21,52.20
$STATE,1080,end climb,SURFACE_DEPTH_REACHED
$STATE,1080,begin surface coast
$FINISH,0.1,1.013816
$STATE,1094,end surface coast,CONTROL_FINISHED_OK
$STATE,1094,begin surface
$SM_CCo,1198,0.00,0.000,0,0,1901,501.42
$SM_GC,1.04,27.73,0.60,0.00,0.021,0.033,0.000,231,1967,1901,-6.59,-1.37,501.42,0,0,0,0,0,0,26.02,26.13,26.10
$IRIDIUM_FIX,6149.06,-17422.35,250817,040123
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.87
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.93,47.296
$10V_AH,10.39,46.304
$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,45.525,11.400,55.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,436.215,328.992,156.401,239.342,103.879,0.000,330.261,0.000,248.385,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1261.485,1303.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,10806,165
$CAP_FILE_SIZE,28732,0
$CFSIZE,1024409600,937672704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,062136,6106.955,-17354.387,5,0.7,38,7.0,0.5,9.4,11,4.8