version: 66.13
glider: 401
mission: 22
dive: 1691
start: 8 25 117 17 5 57
data:
$ID,401
$MISSION,22
$DIVE,1691
$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,21
$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
$GPS1,250817,164501,6104.3179,-17354.6875,8,0.8,23,7.0,0.5,265.5,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-0.9
$GPS2,250817,164501,6104.3179,-17354.6875,8,0.8,23,7.0,0.5,265.5,11,4.9
$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,151.9,39670,-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,6,begin dive
$GC,11,-1.78,-487.5,2386,1956,2369,4092,0.0,0.0,0,18,5.70,0.00,0.00,0.000,4097,0.024,0.000,1828,1957,2369,2369,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.35,52.12
$GC,23,-1.78,-487.5,1828,1957,2369,4094,0.1,0.0,1,36,0.35,0.00,-6.32,0.000,20486,0.036,0.000,1786,1957,3057,3057,4094,0,0,0,0,0,0,26.13,25.50,26.15,10.35,51.61
$GC,70,-1.78,-487.5,1785,1957,3058,4094,1.6,-6.2,8,77,0.00,1.12,0.00,0.000,516,0.000,0.052,1785,1519,3057,3057,4095,0,0,0,0,0,0,26.32,25.92,26.33,10.50,51.53
$GC,129,-1.78,-487.5,1785,1518,3059,4095,10.6,-16.4,17,135,0.00,1.02,0.00,0.000,1030,0.000,0.027,1785,1954,3059,3059,4094,0,0,0,0,0,0,26.13,26.10,26.14,10.51,51.73
$GC,169,-1.78,-487.5,1785,1953,3060,4094,17.0,-16.0,23,176,0.00,1.10,0.00,0.000,260,0.000,0.045,1785,2372,3061,3061,4094,0,0,0,0,0,0,26.40,26.01,26.41,10.50,52.16
$GC,216,-1.78,-487.5,1785,2372,3062,4094,24.0,-14.9,30,222,0.00,1.08,0.00,0.000,1030,0.000,0.031,1785,1942,3061,3061,4095,0,0,0,0,0,0,26.13,26.09,26.17,10.50,52.12
$GC,256,-1.78,-487.5,1785,1942,3062,4095,29.7,-14.2,36,263,0.00,1.08,0.00,0.000,516,0.000,0.052,1785,1519,3062,3062,4094,0,0,0,0,0,0,26.46,26.05,26.46,10.48,51.22
$GC,327,-1.78,-487.5,1785,1519,3064,4094,38.7,-12.8,47,333,0.00,1.00,0.00,0.000,1030,0.000,0.026,1785,1949,3064,3064,4095,0,0,0,0,0,0,26.25,26.22,26.26,10.44,50.66
$GC,367,-1.78,-487.5,1785,1949,3065,4095,43.8,-12.4,53,374,0.00,1.10,0.00,0.000,260,0.000,0.044,1785,2371,3065,3065,4095,0,0,0,0,0,0,26.51,26.12,26.53,10.43,49.80
$GC,432,-1.78,-487.5,1785,2371,3066,4095,51.5,-11.5,63,439,0.00,1.02,0.00,0.000,1030,0.000,0.030,1785,1959,3067,3067,4095,0,0,0,0,0,0,26.25,26.21,26.28,10.41,49.17
$GC,473,-1.78,-487.5,1785,1959,3067,4095,56.4,-12.0,69,479,0.00,1.10,0.00,0.000,516,0.000,0.051,1785,1523,3068,3068,4094,0,0,0,0,0,0,26.55,26.14,26.57,10.40,48.70
$STATE,503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,503,begin apogee
$GC,515,-0.45,0.0,1785,2130,3068,4095,60.6,-11.8,74,551,4.30,0.00,28.15,1.317,10244,0.052,0.000,2186,2130,2484,2484,4095,0,0,0,0,0,0,26.18,25.35,24.31,10.39,48.22
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,552,begin climb
$GC,557,1.78,487.5,2186,2130,2484,4095,63.5,0.0,80,599,7.43,0.00,27.80,1.278,11270,0.030,0.000,2890,2130,1915,1915,4095,0,0,0,0,0,0,25.61,25.79,23.91,10.27,48.07
$GC,633,1.78,487.5,2889,2130,1914,4095,56.9,13.1,92,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2130,1914,1914,4094,0,0,0,0,0,0,25.58,25.59,25.59,10.14,46.57
$GC,673,1.78,487.5,2890,2129,1913,4094,51.5,13.2,98,679,0.00,1.12,0.00,0.000,516,0.000,0.044,2890,1712,1913,1913,4094,0,0,0,0,0,0,25.76,25.42,25.77,10.14,46.29
$GC,761,1.78,487.5,2890,1711,1910,4094,39.6,13.1,112,768,0.00,1.05,0.00,0.000,1030,0.000,0.029,2890,2135,1910,1910,4094,0,0,0,0,0,0,25.74,25.70,25.77,10.13,47.40
$GC,802,1.78,487.5,2890,2135,1909,4094,34.4,12.7,118,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2135,1909,1909,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.14,48.14
$GC,841,1.78,487.5,2890,2135,1908,4094,29.3,12.6,124,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2135,1907,1907,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.14,48.46
$GC,881,1.78,487.5,2890,2135,1907,4094,24.6,12.1,130,888,0.00,1.12,0.00,0.000,516,0.000,0.045,2890,1709,1907,1907,4094,0,0,0,0,0,0,26.20,25.82,26.20,10.16,48.74
$GC,1122,2.03,657.2,2890,1709,1901,4094,3.1,8.0,169,1137,0.75,1.00,9.55,0.590,11266,0.026,0.030,2978,2123,1719,1719,4094,0,0,0,0,0,0,26.15,26.11,26.22,10.22,52.71
$STATE,1138,end climb,FINISH_DEPTH_REACHED
$STATE,1138,begin subsurface finish
$FINISH1,1.9,1.024191,98
$GC,1149,0.15,98.2,2978,2122,1719,4094,1.9,8.2,171,1168,5.97,1.23,-5.62,0.000,21252,0.020,1.258,2391,2558,2374,2374,4095,0,0,0,0,0,0,26.07,24.51,26.09,10.18,52.91
$FINISH2,0.2
$STATE,1170,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1170,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,152802
$TT8_MAMPS,0.025466,0.105609
$HUMID,53.42
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.91,48.064
$10V_AH,10.39,46.947
$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,24.500,17.150,65.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.102,282.376,146.388,252.573,98.645,0.000,329.066,0.000,261.202,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1258.425,1317.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,14350,174
$CAP_FILE_SIZE,29077,0
$CFSIZE,1024409600,936394752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,164501,6104.318,-17354.688,8,0.8,23,7.0,0.5,265.5,11,4.9