version: 66.13
glider: 401
mission: 22
dive: 1706
start: 8 25 117 23 25 33
data:
$ID,401
$MISSION,22
$DIVE,1706
$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,600
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,250817,230447,6104.2778,-17352.8730,10,0.8,18,7.0,0.5,259.3,11,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.8
$GPS2,250817,230447,6104.2778,-17352.8730,10,0.8,18,7.0,0.5,259.3,11,5.0
$SPEED_LIMITS,0.226,0.425
$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,154.1,39037,-10.3,-10.526,-13.92,8308
$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,-1.82,-585.0,2387,1948,2377,4092,0.0,0.0,0,20,6.38,0.00,-1.15,0.000,20482,0.024,0.000,1762,1949,2504,2504,4095,0,0,0,0,0,0,26.16,28.83,26.22,10.35,52.75
$GC,25,-1.82,-585.0,1762,1948,2503,4095,0.1,0.0,1,34,0.00,0.00,-6.22,0.000,16390,0.000,0.000,1762,1948,3172,3172,4094,0,0,0,0,0,0,26.44,24.64,26.44,10.38,52.71
$GC,73,-1.82,-585.0,1762,1948,3173,4094,3.9,-13.3,7,81,0.00,1.10,0.00,0.000,516,0.000,0.052,1762,1516,3173,3173,4094,0,0,0,0,0,0,26.45,26.04,26.46,10.52,52.91
$GC,178,-1.82,-585.0,1761,1516,3176,4094,21.2,-15.6,22,187,0.00,1.08,0.00,0.000,1030,0.000,0.029,1762,1965,3176,3176,4094,0,0,0,0,0,0,26.25,26.21,26.27,10.51,52.16
$GC,227,-1.82,-585.0,1761,1964,3178,4094,28.6,-15.7,28,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1965,3178,3178,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.49,51.65
$GC,276,-1.82,-585.0,1761,1964,3179,4094,35.3,-13.8,34,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1965,3179,3179,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.46,51.37
$GC,325,-1.82,-585.0,1761,1964,3180,4094,41.8,-13.4,40,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1965,3180,3180,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.45,50.07
$GC,373,-1.82,-585.0,1761,1964,3182,4095,48.3,-13.6,46,383,0.00,1.08,0.00,0.000,260,0.000,0.047,1762,2377,3181,3181,4095,0,0,0,0,0,0,26.58,26.17,26.60,10.43,49.33
$GC,434,-1.82,-585.0,1761,2376,3183,4095,56.6,-13.0,54,444,0.00,1.05,0.00,0.000,1030,0.000,0.030,1762,1956,3183,3183,4094,0,0,0,0,0,0,26.30,26.27,26.34,10.42,49.21
$STATE,458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,458,begin apogee
$GC,469,-0.45,0.0,1761,2145,3183,4095,60.2,-12.8,57,512,4.55,0.00,33.40,1.323,10244,0.050,0.000,2187,2145,2484,2484,4095,0,0,0,0,0,0,26.22,25.25,24.22,10.41,48.77
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,517,1.82,585.0,2187,2145,2484,4095,63.6,0.0,62,562,7.57,0.00,33.10,1.286,11270,0.030,0.000,2902,2145,1803,1803,4094,0,0,0,0,0,0,25.54,25.71,23.81,10.27,47.91
$GC,602,1.82,585.0,2901,2145,1801,4094,56.5,13.0,72,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1801,1801,4094,0,0,0,0,0,0,25.52,25.53,25.53,10.11,46.37
$GC,650,1.82,585.0,2902,2145,1801,4094,49.8,14.1,78,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1799,1799,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.11,46.33
$GC,699,1.82,585.0,2902,2145,1798,4094,42.9,14.0,84,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1797,1797,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.11,47.59
$GC,747,1.82,585.0,2902,2145,1796,4094,36.4,13.4,90,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1796,1796,4094,0,0,0,0,0,0,26.00,26.02,26.01,10.10,47.44
$GC,796,1.82,585.0,2902,2145,1795,4094,30.1,12.8,96,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1795,1795,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,47.59
$GC,843,1.82,585.0,2901,2145,1794,4094,24.3,12.2,102,853,0.00,1.15,0.00,0.000,516,0.000,0.045,2902,1713,1793,1793,4094,0,0,0,0,0,0,26.16,25.77,26.17,10.13,48.18
$GC,995,1.82,585.0,2902,1713,1789,4094,7.6,10.8,124,1005,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2131,1789,1789,4095,0,0,0,0,0,0,26.10,26.01,26.09,10.18,51.69
$GC,1044,1.82,585.0,2902,2131,1788,4095,2.4,10.8,130,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1787,1787,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.19,52.32
$STATE,1060,end climb,FINISH_DEPTH_REACHED
$STATE,1060,begin subsurface finish
$FINISH1,0.1,1.015080,0
$GC,1071,0.00,0.0,2902,2131,1787,4094,0.1,10.6,132,1090,5.72,0.00,-6.25,0.000,20486,0.024,0.000,2337,2132,2488,2488,4095,0,0,0,0,0,0,26.15,25.45,26.20,10.20,52.16
$FINISH2,0.2
$STATE,1091,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1091,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,214745
$TT8_MAMPS,0.026215,0.241927
$HUMID,53.42
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.81,48.538
$10V_AH,10.17,47.323
$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,24.225,7.425,66.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.426,0.000,118.210,556.691,98.022,0.000,342.155,0.000,326.835,0.000,0.544,0.000
$DEVICE_MAMPS,50.490,52.020,1322.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.835,364.109,288.065,426.944,554.041,0.000,0.000,0.000,0.000,0.000
$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,14325,134
$CAP_FILE_SIZE,24836,0
$CFSIZE,1024409600,935657472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,230447,6104.278,-17352.873,10,0.8,18,7.0,0.5,259.3,11,5.0