version: 66.13
glider: 401
mission: 22
dive: 1707
start: 8 25 117 23 45 41
data:
$ID,401
$MISSION,22
$DIVE,1707
$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,29
$R_STBD_OVSHOOT,20
$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,-3.4
$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,-585.0,2337,1946,2487,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,4097,0.024,0.000,1782,1946,2487,2487,4094,0,0,0,0,0,0,26.40,28.83,28.83,10.36,53.11
$GC,23,-1.82,-585.0,1782,1946,2487,4094,0.1,0.0,1,35,0.00,1.15,-6.35,0.000,16900,0.000,1.266,1782,1528,3167,3167,4095,0,0,0,0,0,0,26.39,24.44,26.39,10.37,52.83
$GC,269,-1.82,-585.0,1781,1527,3173,4095,30.9,-11.8,41,276,0.00,1.02,0.00,0.000,1030,0.000,0.027,1782,1963,3173,3173,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.46,52.04
$GC,310,-1.82,-585.0,1781,1963,3174,4095,35.8,-11.9,47,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1963,3174,3174,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.45,51.18
$GC,350,-1.82,-585.0,1781,1963,3175,4094,40.6,-11.9,53,357,0.00,1.08,0.00,0.000,260,0.000,0.045,1782,2374,3175,3175,4095,0,0,0,0,0,0,26.51,26.12,26.53,10.44,51.10
$GC,427,-1.82,-585.0,1781,2374,3177,4095,50.0,-12.3,65,433,0.00,1.02,0.00,0.000,1030,0.000,0.029,1782,1964,3177,3177,4095,0,0,0,0,0,0,26.27,26.22,26.29,10.42,49.88
$GC,467,-1.82,-585.0,1781,1964,3178,4095,55.0,-12.1,71,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1965,3178,3178,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.41,49.40
$GC,507,-1.82,-585.0,1781,1965,3179,4095,59.9,-12.3,77,513,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1965,3178,3178,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.41,49.29
$STATE,518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,518,begin apogee
$GC,528,-0.45,0.0,1782,2141,3180,4095,61.8,-12.7,79,570,4.32,0.00,33.15,1.349,10244,0.050,0.000,2186,2141,2484,2484,4095,0,0,0,0,0,0,26.20,25.22,24.19,10.40,48.81
$STATE,571,end apogee,CONTROL_FINISHED_OK
$STATE,571,begin climb
$GC,576,1.82,585.0,2186,2141,2484,4095,64.8,0.0,86,623,7.62,0.00,32.80,1.305,11270,0.030,0.000,2902,2141,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.78,10.26,48.18
$GC,657,1.82,585.0,2902,2141,1801,4094,57.8,12.6,99,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2142,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.48,10.11,46.81
$GC,698,1.82,585.0,2902,2141,1801,4094,52.4,13.3,105,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2141,1800,1800,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.10,46.81
$GC,737,1.82,585.0,2902,2141,1798,4094,47.0,13.8,111,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2141,1799,1799,4094,0,0,0,0,0,0,25.82,25.83,25.82,10.10,47.16
$GC,777,1.82,585.0,2901,2141,1798,4094,41.6,13.1,117,784,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1710,1797,1797,4095,0,0,0,0,0,0,25.92,25.56,25.94,10.10,47.24
$GC,854,1.82,585.0,2901,1710,1795,4095,31.8,12.3,129,860,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2127,1795,1795,4094,0,0,0,0,0,0,25.81,25.77,25.84,10.10,48.11
$GC,894,1.82,585.0,2902,2126,1794,4094,26.9,12.2,135,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1794,1794,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.11,48.62
$GC,934,1.82,585.0,2902,2126,1793,4094,22.2,10.9,141,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1793,1793,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.12,49.68
$GC,974,1.82,585.0,2902,2126,1792,4094,17.7,11.3,147,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1792,1792,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,50.19
$GC,1014,1.82,585.0,2902,2126,1790,4094,13.3,11.2,153,1020,0.00,1.10,0.00,0.000,516,0.000,0.046,2903,1711,1790,1790,4094,0,0,0,0,0,0,26.28,25.89,26.29,10.15,51.26
$STATE,1122,end climb,SURFACE_DEPTH_REACHED
$STATE,1122,begin surface coast
$FINISH,0.2,1.011005
$STATE,1145,end surface coast,CONTROL_FINISHED_OK
$STATE,1145,begin surface
$SM_CCo,1250,0.00,0.000,0,0,1787,599.30
$SM_GC,0.85,27.77,0.60,0.00,0.021,0.029,0.000,229,1979,1787,-6.59,-1.18,599.30,0,0,0,0,0,0,26.03,26.17,26.10
$IRIDIUM_FIX,6149.06,-17422.35,250817,214745
$TT8_MAMPS,0.025466,0.105609
$HUMID,53.81
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.78,48.563
$10V_AH,10.38,47.335
$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,45.400,9.050,65.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,450.805,348.557,161.014,252.306,106.275,0.000,339.562,0.000,261.042,0.000,0.542,0.000
$DEVICE_MAMPS,50.490,1266.075,1348.695,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,117.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,14317,174
$CAP_FILE_SIZE,27668,0
$CFSIZE,1024409600,935608320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260817,000755,6103.572,-17352.510,3,0.9,42,7.0,0.2,221.8,9,5.0