version: 66.13
glider: 401
mission: 22
dive: 1721
start: 8 26 117 5 29 8
data:
$ID,401
$MISSION,22
$DIVE,1721
$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,22
$R_STBD_OVSHOOT,53
$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
$GPS1,260817,050757,6101.4575,-17356.0312,10,0.8,15,7.0,0.0,340.4,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.6
$GPS2,260817,050757,6101.4575,-17356.0312,10,0.8,15,7.0,0.0,340.4,11,5.0
$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,146.9,35299,-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,11,-1.82,-585.0,2385,1996,2368,4092,0.0,0.0,0,18,5.70,0.00,0.00,0.000,4097,0.023,0.000,1830,1997,2368,2368,4094,0,0,0,0,0,0,26.37,28.83,28.83,10.36,51.41
$GC,23,-1.82,-585.0,1828,1996,2368,4094,0.1,0.0,1,37,0.47,1.02,-7.45,0.000,20740,0.038,1.242,1776,2356,3170,3170,4095,0,0,0,0,0,0,26.09,24.39,26.12,10.36,51.65
$GC,46,-1.82,-585.0,1775,2357,3171,4095,0.8,-2.4,4,53,0.00,1.02,0.00,0.000,1030,0.000,0.030,1776,1952,3171,3171,4095,0,0,0,0,0,0,26.04,26.01,26.06,10.53,51.96
$GC,87,-1.82,-585.0,1776,1952,3172,4095,6.1,-13.7,10,93,0.00,1.10,0.00,0.000,516,0.000,0.050,1776,1518,3172,3172,4094,0,0,0,0,0,0,26.35,25.96,26.36,10.53,52.20
$GC,287,-1.82,-585.0,1776,1518,3178,4094,35.9,-13.3,42,294,0.00,1.00,0.00,0.000,1030,0.000,0.027,1776,1947,3178,3178,4095,0,0,0,0,0,0,26.24,26.21,26.26,10.49,50.98
$GC,328,-1.82,-585.0,1775,1946,3178,4095,41.8,-12.9,48,334,0.00,1.10,0.00,0.000,260,0.000,0.046,1776,2367,3179,3179,4095,0,0,0,0,0,0,26.51,26.10,26.51,10.46,50.03
$GC,404,-1.82,-585.0,1775,2367,3180,4095,51.4,-12.2,60,411,0.00,0.98,0.00,0.000,1030,0.000,0.029,1776,1980,3180,3180,4095,0,0,0,0,0,0,26.28,26.24,26.29,10.43,49.76
$GC,445,-1.82,-585.0,1776,1980,3181,4095,56.4,-12.6,66,452,0.00,1.17,0.00,0.000,516,0.000,0.050,1776,1517,3181,3181,4094,0,0,0,0,0,0,26.55,26.14,26.57,10.43,48.77
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,481,-0.45,0.0,1776,2132,3182,4095,60.1,-12.6,70,523,4.38,0.00,33.33,1.335,10244,0.050,0.000,2186,2132,2483,2483,4095,0,0,0,0,0,0,26.19,25.21,24.20,10.42,48.93
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,529,1.82,585.0,2186,2132,2484,4095,63.1,0.0,77,576,7.62,0.00,33.12,1.280,11270,0.030,0.000,2905,2132,1802,1802,4094,0,0,0,0,0,0,25.49,25.66,23.80,10.28,47.51
$GC,610,1.82,585.0,2905,2131,1801,4094,55.7,13.7,90,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2132,1801,1801,4094,0,0,0,0,0,0,25.48,25.50,25.49,10.12,46.73
$GC,651,1.82,585.0,2904,2132,1800,4094,50.1,13.6,96,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2132,1800,1800,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.12,46.49
$GC,690,1.82,585.0,2905,2132,1798,4094,44.4,14.1,102,697,0.00,1.15,0.00,0.000,516,0.000,0.044,2905,1704,1798,1798,4094,0,0,0,0,0,0,25.82,25.47,25.83,10.11,46.57
$GC,797,1.82,585.0,2905,1704,1795,4094,30.8,11.9,119,804,0.00,1.05,0.00,0.000,1030,0.000,0.029,2905,2129,1795,1795,4094,0,0,0,0,0,0,25.80,25.77,25.83,10.13,47.67
$GC,838,1.82,585.0,2904,2128,1795,4094,26.0,11.6,125,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2129,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.15,48.58
$GC,878,1.82,585.0,2905,2129,1793,4094,21.4,11.3,131,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2129,1792,1792,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.16,49.64
$GC,917,1.82,585.0,2905,2129,1791,4094,16.8,11.6,137,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2129,1791,1791,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.17,51.45
$GC,957,1.82,585.0,2904,2129,1790,4094,12.1,11.6,143,964,0.00,1.12,0.00,0.000,516,0.000,0.045,2905,1703,1790,1790,4094,0,0,0,0,0,0,26.28,25.89,26.29,10.18,51.33
$GC,1010,1.82,585.0,2905,1703,1788,4094,6.1,10.8,151,1016,0.00,1.05,0.00,0.000,1030,0.000,0.030,2905,2132,1788,1788,4095,0,0,0,0,0,0,26.05,26.02,26.07,10.19,51.89
$STATE,1046,end climb,FINISH_DEPTH_REACHED
$STATE,1046,begin subsurface finish
$FINISH1,1.6,1.024194,98
$GC,1057,0.15,98.0,2905,2131,1787,4094,1.6,11.0,157,1071,5.28,0.00,-5.15,0.000,20486,0.027,0.000,2390,2132,2374,2374,4095,0,0,0,0,0,0,26.10,24.55,26.15,10.20,52.12
$FINISH2,0.1
$STATE,1072,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,035121
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.50
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.80,49.012
$10V_AH,10.39,47.667
$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,23.450,13.950,66.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,412.779,252.258,142.099,230.823,96.012,0.000,313.181,0.000,239.964,0.000,0.542,0.000
$DEVICE_MAMPS,49.725,1241.595,1334.925,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330588
$DATA_FILE_SIZE,10790,159
$CAP_FILE_SIZE,26728,0
$CFSIZE,1024409600,934920192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260817,050757,6101.458,-17356.031,10,0.8,15,7.0,0.0,340.4,11,5.0