version: 66.13
glider: 401
mission: 22
dive: 1669
start: 8 25 117 7 50 2
data:
$ID,401
$MISSION,22
$DIVE,1669
$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,35
$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
$GPS1,250817,073523,6107.1392,-17353.9609,5,0.9,50,7.0,0.4,43.8,8,3.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-37.0
$GPS2,250817,074926,6107.2070,-17353.9453,5,0.8,16,7.0,0.0,122.4,10,4.8
$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,155.2,44491,-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,-487.5,230,1969,1875,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.095,0.000,705,1969,1875,1875,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.29,50.82
$GC,23,-1.78,-487.5,704,1969,1875,4094,0.8,0.0,1,54,11.55,1.12,-10.82,0.000,19204,0.054,1.239,1764,2370,3056,3056,4095,0,0,0,0,0,0,25.88,24.17,25.96,10.29,50.70
$GC,64,-1.78,-487.5,1763,2370,3055,4095,0.1,0.6,7,70,0.00,1.08,0.00,0.000,1030,0.000,0.032,1764,1953,3056,3056,4095,0,0,0,0,0,0,25.84,25.80,25.86,10.54,50.66
$GC,104,-1.78,-487.5,1763,1952,3057,4095,4.5,-13.7,13,111,0.00,1.10,0.00,0.000,516,0.000,0.046,1764,1517,3057,3057,4094,0,0,0,0,0,0,26.17,25.80,26.19,10.55,50.39
$GC,345,-1.78,-487.5,1763,1517,3064,4094,40.5,-13.8,52,351,0.00,1.02,0.00,0.000,1030,0.000,0.026,1763,1954,3064,3064,4094,0,0,0,0,0,0,26.17,26.14,26.20,10.47,49.44
$GC,385,-1.78,-487.5,1763,1953,3064,4094,45.9,-13.4,58,392,0.00,1.08,0.00,0.000,260,0.000,0.044,1764,2367,3065,3065,4094,0,0,0,0,0,0,26.44,26.06,26.46,10.45,47.95
$GC,450,-1.78,-487.5,1763,2367,3066,4094,54.3,-12.7,68,456,0.00,1.02,0.00,0.000,1030,0.000,0.029,1764,1956,3066,3066,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.43,48.14
$GC,490,-1.78,-487.5,1763,1956,3067,4094,59.5,-13.1,74,497,0.00,1.10,0.00,0.000,516,0.000,0.049,1764,1519,3067,3067,4094,0,0,0,0,0,0,26.50,26.09,26.51,10.43,46.77
$STATE,502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,502,begin apogee
$GC,514,-0.45,0.0,1764,2129,3068,4094,61.6,-13.0,76,550,4.55,0.00,28.20,1.309,10244,0.054,0.000,2186,2129,2483,2483,4095,0,0,0,0,0,0,26.12,25.29,24.25,10.42,46.65
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,555,1.78,487.5,2186,2129,2483,4095,64.9,0.0,82,597,7.45,0.00,27.75,1.279,11270,0.030,0.000,2891,2128,1915,1915,4094,0,0,0,0,0,0,25.58,25.73,23.87,10.29,46.18
$GC,631,1.78,487.5,2890,2128,1916,4094,58.0,13.8,94,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2129,1915,1915,4094,0,0,0,0,0,0,25.56,25.58,25.58,10.17,45.47
$GC,671,1.78,487.5,2890,2129,1913,4094,52.4,14.6,100,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2129,1913,1913,4094,0,0,0,0,0,0,25.75,25.75,25.75,10.16,45.03
$GC,711,1.78,487.5,2890,2129,1912,4094,46.7,14.0,106,717,0.00,1.12,0.00,0.000,516,0.000,0.044,2891,1708,1912,1912,4094,0,0,0,0,0,0,25.87,25.52,25.88,10.15,45.43
$GC,805,1.78,487.5,2890,1708,1909,4094,33.6,13.6,121,812,0.00,1.05,0.00,0.000,1030,0.000,0.029,2891,2135,1908,1908,4094,0,0,0,0,0,0,25.82,25.78,25.84,10.15,47.16
$GC,846,1.78,487.5,2890,2134,1908,4094,28.1,13.6,127,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2134,1907,1907,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.16,47.44
$GC,886,1.78,487.5,2890,2134,1906,4094,23.0,12.6,133,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2134,1906,1906,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.17,47.75
$GC,925,1.78,487.5,2890,2134,1905,4094,18.3,11.4,139,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2134,1905,1905,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.19,48.85
$GC,965,1.78,487.5,2890,2134,1904,4094,13.8,11.3,145,972,0.00,1.10,0.00,0.000,516,0.000,0.044,2891,1716,1903,1903,4094,0,0,0,0,0,0,26.29,25.91,26.29,10.21,50.07
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,1.9,1.024236,95
$GC,1086,0.14,95.1,2891,2141,1900,4094,1.9,9.8,163,1099,5.22,0.00,-4.20,0.000,20486,0.037,0.000,2387,2141,2380,2380,4095,0,0,0,0,0,0,26.13,24.56,26.18,10.24,52.08
$FINISH2,0.2
$STATE,1100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,074213
$TT8_MAMPS,0.025466,0.159537
$HUMID,51.92
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.87,47.425
$10V_AH,10.29,46.405
$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,34.375,13.400,55.950,0.000,0.000,102.301,85.528,276.877,0.000,0.000,18.026,432.406,399.920,143.306,677.732,298.414,0.000,322.285,0.000,249.797,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,1239.300,1308.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.468,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10830,165
$CAP_FILE_SIZE,33032,0
$CFSIZE,1024409600,937459712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250817,074926,6107.207,-17353.945,5,0.8,16,7.0,0.0,122.4,10,4.8