version: 66.13
glider: 401
mission: 22
dive: 1675
start: 8 25 117 10 27 44
data:
$ID,401
$MISSION,22
$DIVE,1675
$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,24
$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
$GPS1,250817,101651,6106.7256,-17351.9355,5,0.7,50,7.0,0.0,90.8,11,11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-27.9
$GPS2,250817,102708,6106.7432,-17351.9766,6,1.1,51,7.0,0.0,339.7,8,15.3
$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,157.1,43151,-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,-487.5,230,1958,1624,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.064,0.000,733,1958,1624,1624,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.23,50.78
$GC,23,-1.78,-487.5,733,1958,1623,4094,0.5,0.0,1,54,11.00,1.15,-12.98,0.000,19204,0.041,1.230,1765,2385,3054,3054,4094,0,0,0,0,0,0,25.93,24.28,26.01,10.23,51.10
$GC,288,-1.78,-487.5,1765,2386,3060,4094,31.2,-13.6,44,294,0.00,1.10,0.00,0.000,1030,0.000,0.029,1765,1943,3060,3060,4094,0,0,0,0,0,0,26.13,26.09,26.15,10.50,49.96
$GC,329,-1.78,-487.5,1765,1943,3061,4094,36.5,-12.9,50,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3061,3061,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.48,49.52
$GC,368,-1.78,-487.5,1765,1942,3062,4095,41.6,-13.1,56,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3062,3062,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.47,48.77
$GC,408,-1.78,-487.5,1765,1942,3063,4095,46.6,-12.9,62,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3063,3063,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.45,48.03
$GC,448,-1.78,-487.5,1765,1943,3064,4095,51.6,-12.3,68,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.44,47.83
$GC,487,-1.78,-487.5,1765,1942,3064,4095,56.5,-12.2,74,493,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1943,3065,3065,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.43,47.00
$STATE,517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,517,begin apogee
$GC,527,-0.45,0.0,1765,2144,3066,4095,60.8,-13.0,79,563,4.47,0.00,27.95,1.304,10244,0.052,0.000,2185,2144,2484,2484,4095,0,0,0,0,0,0,26.15,25.32,24.27,10.41,46.65
$STATE,565,end apogee,CONTROL_FINISHED_OK
$STATE,565,begin climb
$GC,569,1.78,487.5,2184,2143,2484,4095,63.8,0.0,85,611,7.45,0.00,27.77,1.274,11270,0.029,0.000,2891,2144,1916,1916,4095,0,0,0,0,0,0,25.60,25.77,23.91,10.30,46.14
$GC,645,1.78,487.5,2891,2144,1915,4095,57.6,12.5,97,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2144,1915,1915,4094,0,0,0,0,0,0,25.58,25.59,25.59,10.16,45.27
$GC,685,1.78,487.5,2891,2144,1914,4094,52.1,13.7,103,691,0.00,1.15,0.00,0.000,516,0.000,0.043,2891,1713,1913,1913,4094,0,0,0,0,0,0,25.76,25.42,25.77,10.16,45.19
$GC,761,1.78,487.5,2891,1713,1912,4094,41.6,13.5,115,768,0.00,1.02,0.00,0.000,1030,0.000,0.029,2891,2129,1911,1911,4094,0,0,0,0,0,0,25.72,25.69,25.75,10.16,46.18
$GC,802,1.78,487.5,2891,2129,1910,4094,36.2,13.2,121,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1910,1910,4095,0,0,0,0,0,0,26.06,26.08,26.07,10.15,47.04
$GC,842,1.78,487.5,2891,2129,1909,4095,31.0,12.7,127,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2129,1909,1909,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.15,47.51
$GC,881,1.78,487.5,2891,2129,1908,4094,26.1,11.9,133,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2130,1907,1907,4095,0,0,0,0,0,0,26.18,26.20,26.19,10.17,47.48
$GC,921,1.78,487.5,2891,2129,1907,4095,21.4,12.0,139,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1907,1907,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.19,48.34
$GC,961,1.79,495.9,2891,2129,1905,4094,17.2,10.4,145,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1905,1905,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.20,49.72
$GC,1001,1.79,495.9,2891,2129,1905,4094,12.9,10.7,151,1007,0.00,1.10,0.00,0.000,516,0.000,0.044,2892,1711,1904,1904,4094,0,0,0,0,0,0,26.32,25.92,26.32,10.22,50.90
$STATE,1109,end climb,FINISH_DEPTH_REACHED
$STATE,1109,begin subsurface finish
$FINISH1,1.7,1.024226,96
$GC,1122,0.14,95.8,2891,2144,1901,4094,1.7,8.2,169,1136,5.50,1.23,-4.15,0.000,20996,0.062,1.262,2392,1714,2379,2379,4095,0,0,0,0,0,0,26.02,24.35,26.12,10.24,52.28
$FINISH2,0.1
$STATE,1137,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1137,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,090644
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.67
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.91,47.614
$10V_AH,10.28,46.556
$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,34.050,8.325,55.725,0.000,0.000,24.700,17.299,300.992,0.000,0.000,52.683,443.118,275.804,146.146,597.923,298.368,0.000,330.632,0.000,258.472,0.000,0.543,0.000
$DEVICE_MAMPS,64.260,1262.250,1303.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329312
$DATA_FILE_SIZE,14283,171
$CAP_FILE_SIZE,31127,0
$CFSIZE,1024409600,937181184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250817,102708,6106.743,-17351.977,6,1.1,51,7.0,0.0,339.7,8,15.3