version: 66.13
glider: 401
mission: 22
dive: 1673
start: 8 25 117 9 32 24
data:
$ID,401
$MISSION,22
$DIVE,1673
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,250817,091027,6107.0708,-17352.8223,5,0.8,18,7.0,0.0,98.8,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-1.9
$GPS2,250817,091027,6107.0708,-17352.8223,5,0.8,18,7.0,0.0,98.8,10,5.0
$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,156.3,43949,-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,-487.5,2380,1947,2381,4092,0.0,0.0,0,18,5.85,0.00,0.00,0.000,4097,0.021,0.000,1805,1947,2381,2381,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.35,51.96
$GC,23,-1.78,-487.5,1805,1947,2381,4095,1.2,0.0,1,36,0.10,1.23,-4.88,0.000,20740,0.073,1.239,1785,2377,3061,3061,4095,0,0,0,0,0,0,26.15,24.40,26.17,10.35,51.41
$GC,82,-1.78,-487.5,1785,2376,3062,4095,7.3,-14.8,10,89,0.00,1.08,0.00,0.000,1030,0.000,0.031,1785,1948,3062,3062,4095,0,0,0,0,0,0,26.00,25.96,26.02,10.50,51.45
$GC,123,-1.78,-487.5,1785,1948,3063,4095,13.5,-15.8,16,129,0.00,1.08,0.00,0.000,516,0.000,0.051,1785,1524,3063,3063,4095,0,0,0,0,0,0,26.32,25.93,26.33,10.50,50.98
$GC,217,-1.78,-487.5,1784,1523,3066,4095,27.9,-14.2,31,224,0.00,0.98,0.00,0.000,1030,0.000,0.025,1785,1948,3066,3066,4094,0,0,0,0,0,0,26.17,26.14,26.17,10.48,50.66
$GC,258,-1.78,-487.5,1785,1948,3067,4094,32.7,-12.4,37,264,0.00,1.08,0.00,0.000,260,0.000,0.044,1785,2360,3066,3066,4095,0,0,0,0,0,0,26.43,26.06,26.44,10.46,50.70
$GC,328,-1.78,-487.5,1784,2360,3069,4095,41.5,-12.5,48,335,0.00,1.08,0.00,0.000,1030,0.000,0.031,1785,1930,3068,3068,4095,0,0,0,0,0,0,26.18,26.14,26.20,10.43,50.03
$GC,369,-1.78,-487.5,1784,1930,3069,4095,46.6,-12.9,54,375,0.00,1.02,0.00,0.000,516,0.000,0.051,1785,1524,3069,3069,4095,0,0,0,0,0,0,26.49,26.09,26.51,10.42,49.09
$GC,427,-1.78,-487.5,1784,1524,3071,4095,53.9,-12.2,63,434,0.00,0.90,0.00,0.000,1030,0.000,0.025,1785,1921,3071,3071,4095,0,0,0,0,0,0,26.28,26.27,26.30,10.40,48.81
$GC,468,-1.78,-487.5,1784,1921,3072,4095,58.9,-12.6,69,474,0.00,1.12,0.00,0.000,260,0.000,0.044,1785,2356,3072,3072,4095,0,0,0,0,0,0,26.53,26.15,26.55,10.39,47.99
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,490,-0.45,0.0,1785,2115,3072,4095,60.9,-12.4,71,526,4.28,0.00,28.38,1.320,10244,0.053,0.000,2184,2114,2484,2484,4094,0,0,0,0,0,0,26.16,25.32,24.29,10.39,48.22
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,531,1.78,487.5,2184,2114,2484,4094,63.8,0.0,77,574,7.45,0.95,27.83,1.274,10756,0.030,0.043,2896,1739,1915,1915,4094,0,0,0,0,0,0,25.52,25.48,23.91,10.27,47.04
$GC,614,1.78,487.5,2895,1739,1914,4094,56.5,13.3,90,621,0.00,0.95,0.00,0.000,1030,0.000,0.029,2896,2119,1914,1914,4094,0,0,0,0,0,0,25.39,25.36,25.41,10.14,46.33
$GC,655,1.78,487.5,2895,2118,1913,4094,50.8,14.1,96,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2119,1913,1913,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.13,46.77
$GC,695,1.78,487.5,2895,2119,1912,4094,45.1,13.7,102,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2119,1911,1911,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.13,46.10
$GC,734,1.78,487.5,2894,2118,1911,4094,39.8,13.7,108,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2119,1911,1911,4095,0,0,0,0,0,0,25.99,26.01,26.01,10.13,46.69
$GC,774,1.78,487.5,2895,2118,1909,4095,34.7,12.5,114,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2119,1910,1910,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.13,47.20
$GC,814,1.78,487.5,2895,2118,1908,4094,29.7,12.4,120,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2119,1908,1908,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.14,47.91
$GC,854,1.78,487.5,2895,2119,1907,4094,24.9,12.3,126,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2119,1907,1907,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.16,48.46
$GC,893,1.78,487.5,2895,2119,1906,4094,20.3,11.6,132,900,0.00,1.00,0.00,0.000,516,0.000,0.045,2896,1740,1905,1905,4094,0,0,0,0,0,0,26.24,25.86,26.25,10.18,49.84
$GC,982,1.78,487.5,2895,1739,1903,4094,10.3,11.4,146,988,0.00,0.98,0.00,0.000,1030,0.000,0.031,2896,2139,1903,1903,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.20,52.08
$GC,1022,1.78,487.5,2895,2138,1902,4094,5.8,10.9,152,1029,0.00,1.05,0.00,0.000,516,0.000,0.043,2896,1736,1902,1902,4094,0,0,0,0,0,0,26.36,25.98,26.37,10.21,52.12
$STATE,1059,end climb,FINISH_DEPTH_REACHED
$STATE,1059,begin subsurface finish
$FINISH1,1.5,1.024233,95
$GC,1071,0.14,95.2,2896,2145,1901,4094,1.5,10.1,158,1084,5.18,0.00,-4.18,0.000,20998,0.023,0.000,2388,2145,2380,2380,4095,0,0,0,0,0,0,26.11,24.59,26.17,10.23,52.63
$FINISH2,0.1
$STATE,1085,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,090400
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.18
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.91,47.549
$10V_AH,10.39,46.501
$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,22.850,16.550,56.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,421.519,246.893,143.944,232.425,101.143,0.000,320.543,0.000,241.324,0.000,0.542,0.000
$DEVICE_MAMPS,72.675,1239.300,1319.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.904,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10775,160
$CAP_FILE_SIZE,29612,0
$CFSIZE,1024409600,937279488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,091027,6107.071,-17352.822,5,0.8,18,7.0,0.0,98.8,10,5.0