version: 66.13
glider: 401
mission: 22
dive: 1676
start: 8 25 117 10 48 35
data:
$ID,401
$MISSION,22
$DIVE,1676
$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,29
$R_STBD_OVSHOOT,52
$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
$GPS1,250817,102708,6106.7432,-17351.9766,6,1.1,51,7.0,0.0,339.7,8,15.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-4.9
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.78,-487.5,2392,1978,2379,4092,0.0,0.0,0,21,6.32,0.00,-2.38,0.000,20482,0.022,0.000,1769,1979,2642,2642,4095,0,0,0,0,0,0,26.20,28.83,26.24,10.35,52.67
$GC,26,-1.78,-487.5,1769,1978,2643,4095,0.2,0.0,1,36,0.00,1.02,-3.38,0.000,16644,0.000,1.249,1769,2354,3061,3061,4095,0,0,0,0,0,0,26.44,24.49,26.44,10.40,52.52
$GC,166,-1.78,-487.5,1769,2354,3064,4095,13.1,-9.6,21,175,0.00,1.00,0.00,0.000,1030,0.000,0.030,1769,1959,3064,3064,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.49,52.08
$GC,214,-1.78,-487.5,1768,1959,3065,4094,18.2,-10.6,27,223,0.00,1.15,0.00,0.000,516,0.000,0.054,1769,1511,3065,3065,4094,0,0,0,0,0,0,26.47,26.05,26.48,10.51,52.36
$GC,275,-1.78,-487.5,1768,1511,3066,4094,24.8,-10.6,35,284,0.00,0.95,0.00,0.000,1030,0.000,0.025,1769,1943,3066,3066,4094,0,0,0,0,0,0,26.27,26.27,26.30,10.50,51.89
$GC,323,-1.78,-487.5,1769,1943,3067,4094,29.5,-9.5,41,332,0.00,1.05,0.00,0.000,260,0.000,0.041,1769,2349,3067,3067,4095,0,0,0,0,0,0,26.53,26.15,26.53,10.48,51.69
$GC,404,-1.78,-487.5,1768,2349,3068,4095,37.3,-9.5,52,413,0.00,1.00,0.00,0.000,1030,0.000,0.031,1770,1950,3069,3069,4095,0,0,0,0,0,0,26.28,26.27,26.30,10.45,51.26
$GC,452,-1.78,-487.5,1768,1950,3069,4095,41.8,-9.4,58,461,0.00,1.08,0.00,0.000,516,0.000,0.054,1769,1521,3070,3070,4095,0,0,0,0,0,0,26.58,26.15,26.59,10.44,50.00
$GC,539,-1.78,-487.5,1768,1521,3070,4095,50.4,-9.9,70,549,0.00,0.90,0.00,0.000,1030,0.000,0.024,1769,1936,3071,3071,4095,0,0,0,0,0,0,26.40,26.36,26.40,10.41,48.77
$GC,589,-1.78,-487.5,1768,1936,3072,4095,55.4,-10.3,76,599,0.00,1.08,0.00,0.000,260,0.000,0.042,1769,2350,3072,3072,4095,0,0,0,0,0,0,26.63,26.24,26.64,10.40,48.22
$STATE,626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,626,begin apogee
$GC,637,-0.45,0.0,1769,2112,3073,4094,60.5,-11.9,81,680,4.45,0.00,28.40,1.322,10244,0.053,0.000,2185,2113,2484,2484,4094,0,0,0,0,0,0,26.25,25.39,24.37,10.39,47.75
$STATE,681,end apogee,CONTROL_FINISHED_OK
$STATE,681,begin climb
$GC,686,1.78,487.5,2184,2112,2484,4094,63.9,0.0,86,730,7.47,0.00,27.80,1.284,11270,0.030,0.000,2892,2112,1916,1916,4094,0,0,0,0,0,0,25.68,25.86,23.96,10.27,47.04
$GC,770,1.78,487.5,2891,2112,1916,4094,56.8,13.0,96,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2112,1915,1915,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.14,46.06
$GC,819,1.78,487.5,2891,2112,1914,4094,49.9,13.9,102,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2113,1914,1914,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.14,46.06
$GC,868,1.78,487.5,2890,2112,1913,4094,43.3,13.6,108,877,0.00,0.98,0.00,0.000,516,0.000,0.046,2892,1736,1912,1912,4094,0,0,0,0,0,0,25.97,25.62,25.98,10.14,46.41
$GC,935,1.78,487.5,2891,1736,1911,4094,34.3,12.9,117,944,0.00,0.90,0.00,0.000,1030,0.000,0.029,2892,2106,1911,1911,4094,0,0,0,0,0,0,25.84,25.82,25.87,10.14,47.79
$GC,983,1.78,487.5,2891,2106,1909,4094,28.3,12.2,123,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2106,1909,1909,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.16,47.75
$GC,1030,1.78,487.5,2891,2106,1907,4094,22.7,12.1,129,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2106,1907,1907,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.17,49.17
$GC,1077,1.78,487.5,2891,2106,1907,4094,17.2,11.4,135,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2106,1906,1906,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.20,50.03
$GC,1124,1.78,487.5,2891,2106,1905,4094,11.9,11.2,141,1132,0.00,0.98,0.00,0.000,516,0.000,0.047,2892,1735,1905,1905,4094,0,0,0,0,0,0,26.32,25.95,26.34,10.21,51.81
$STATE,1213,end climb,FINISH_DEPTH_REACHED
$STATE,1213,begin subsurface finish
$FINISH1,2.0,1.024232,95
$GC,1225,0.14,95.3,2892,2141,1902,4094,2.0,11.0,154,1245,5.40,1.12,-4.22,0.000,20996,0.051,1.253,2385,1738,2378,2378,4094,0,0,0,0,0,0,26.14,24.48,26.19,10.23,51.81
$FINISH2,0.2
$STATE,1246,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1246,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,090644
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.67
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.96,47.636
$10V_AH,10.17,46.591
$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,23.650,15.350,56.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.650,0.000,121.807,652.301,101.408,0.000,368.744,0.000,379.458,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1253.070,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.216,423.868,335.399,497.453,649.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,14285,156
$CAP_FILE_SIZE,28638,0
$CFSIZE,1024409600,937132032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,102708,6106.743,-17351.977,6,1.1,51,7.0,0.0,339.7,8,15.3