version: 66.13
glider: 401
mission: 22
dive: 1677
start: 8 25 117 11 11 17
data:
$ID,401
$MISSION,22
$DIVE,1677
$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,50
$R_STBD_OVSHOOT,40
$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,0.11
$_SM_ANGLEo,-2.6
$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,-487.5,2385,1968,2378,4093,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.023,0.000,1829,1969,2378,2378,4095,0,0,0,0,0,0,26.37,28.83,28.83,10.34,52.40
$GC,23,-1.78,-487.5,1829,1965,2378,4095,0.1,0.0,1,36,0.35,1.12,-6.22,0.000,21252,0.036,1.249,1786,1545,3055,3055,4094,0,0,0,0,0,0,26.13,24.45,26.14,10.34,52.52
$GC,264,-1.78,-487.5,1785,1545,3062,4094,30.3,-11.5,40,270,0.00,0.93,0.00,0.000,1030,0.000,0.027,1786,1948,3061,3061,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.48,51.69
$GC,304,-1.78,-487.5,1786,1948,3062,4095,35.2,-11.9,46,311,0.00,1.08,0.00,0.000,260,0.000,0.044,1786,2362,3062,3062,4095,0,0,0,0,0,0,26.48,26.10,26.49,10.45,51.85
$GC,363,-1.78,-487.5,1785,2361,3064,4095,42.4,-12.6,55,370,0.00,0.95,0.00,0.000,1030,0.000,0.029,1786,1984,3064,3064,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.43,50.63
$GC,404,-1.78,-487.5,1785,1984,3064,4094,47.5,-12.4,61,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1984,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,49.96
$GC,443,-1.78,-487.5,1785,1984,3066,4095,52.4,-12.3,67,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1984,3065,3065,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.41,49.37
$GC,483,-1.78,-487.5,1785,1983,3066,4094,57.2,-11.9,73,489,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1984,3066,3066,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.40,49.44
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,507,begin apogee
$GC,517,-0.45,0.0,1785,2140,3067,4095,60.6,-11.8,77,553,4.30,0.00,27.95,1.307,10244,0.052,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.19,25.35,24.33,10.39,48.74
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,559,1.78,487.5,2186,2140,2484,4094,63.3,0.0,83,601,7.47,0.00,27.77,1.274,11270,0.030,0.000,2892,2140,1915,1915,4094,0,0,0,0,0,0,25.63,25.79,23.93,10.27,48.03
$GC,635,1.78,487.5,2891,2140,1914,4094,56.7,13.2,95,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2140,1913,1913,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.14,46.73
$GC,675,1.78,487.5,2891,2140,1913,4094,51.2,14.2,101,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2140,1912,1912,4094,0,0,0,0,0,0,25.77,25.78,25.77,10.13,46.57
$GC,715,1.78,487.5,2891,2140,1911,4094,45.7,13.8,107,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2140,1911,1911,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.14,46.96
$GC,754,1.78,487.5,2891,2140,1910,4094,40.3,13.4,113,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2140,1910,1910,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.13,47.59
$GC,794,1.78,487.5,2892,2139,1909,4094,35.1,12.7,119,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2140,1908,1908,4095,0,0,0,0,0,0,26.06,26.08,26.08,10.14,47.91
$GC,834,1.78,487.5,2892,2140,1908,4095,30.0,12.8,125,840,0.00,1.12,0.00,0.000,516,0.000,0.046,2892,1711,1908,1908,4094,0,0,0,0,0,0,26.13,25.76,26.14,10.14,48.22
$GC,916,1.78,487.5,2892,1710,1906,4094,20.3,11.4,138,923,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2122,1905,1905,4094,0,0,0,0,0,0,25.97,25.95,26.00,10.18,49.84
$GC,957,1.78,487.5,2892,2121,1904,4094,15.6,11.8,144,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1904,1904,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.20,51.29
$GC,996,1.78,487.5,2892,2122,1903,4094,11.1,11.3,150,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2122,1903,1903,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.21,51.85
$GC,1036,1.78,487.5,2892,2122,1902,4095,6.5,11.5,156,1043,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1705,1902,1902,4094,0,0,0,0,0,0,26.35,25.96,26.36,10.21,52.28
$STATE,1078,end climb,SURFACE_DEPTH_REACHED
$STATE,1078,begin surface coast
$FINISH,0.3,1.024233
$STATE,1097,end surface coast,CONTROL_FINISHED_OK
$STATE,1097,begin surface
$SM_CCo,1202,0.00,0.000,0,0,1900,502.28
$SM_GC,1.02,27.70,0.60,0.00,0.020,0.029,0.000,229,1968,1900,-6.59,-1.41,502.28,0,0,0,0,0,0,26.00,26.17,26.09
$IRIDIUM_FIX,6149.06,-17422.35,250817,090644
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.15
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.93,47.657
$10V_AH,10.39,46.602
$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,45.475,8.800,55.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,436.354,331.599,155.839,240.809,104.654,0.000,329.728,0.000,249.837,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1249.245,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,10771,166
$CAP_FILE_SIZE,28143,0
$CFSIZE,1024409600,937082880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,113216,6106.106,-17351.574,5,0.9,15,7.0,0.4,201.1,10,4.6