version: 66.13
glider: 401
mission: 22
dive: 1723
start: 8 26 117 6 19 52
data:
$ID,401
$MISSION,22
$DIVE,1723
$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,39
$R_STBD_OVSHOOT,22
$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
$GPS1,260817,061004,6101.3940,-17355.9316,3,0.8,35,7.0,0.4,325.1,11,4.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-38.1
$GPS2,260817,061913,6101.4912,-17355.9414,10,0.7,14,7.0,0.0,354.3,11,4.8
$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,147.1,35320,-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,-585.0,230,1942,1786,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.091,0.000,705,1941,1786,1786,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.33
$GC,23,-1.82,-585.0,704,1941,1786,4094,0.7,0.0,1,54,11.35,1.27,-12.70,0.000,18692,0.049,1.245,1752,2381,3170,3170,4094,0,0,0,0,0,0,25.91,24.17,25.98,10.26,50.94
$GC,258,-1.82,-585.0,1752,2381,3176,4094,29.5,-15.0,39,265,0.00,1.05,0.00,0.000,1030,0.000,0.028,1752,1963,3176,3176,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.54,50.11
$GC,299,-1.82,-585.0,1751,1963,3177,4094,35.2,-14.1,45,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1963,3177,3177,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.51,50.35
$GC,339,-1.82,-585.0,1752,1963,3178,4095,40.8,-13.4,51,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1963,3178,3178,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.49,49.05
$GC,378,-1.82,-585.0,1752,1963,3179,4095,46.1,-13.1,57,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1963,3179,3179,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,49.05
$GC,418,-1.82,-585.0,1752,1963,3180,4095,51.1,-12.2,63,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1963,3180,3180,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.46,47.75
$GC,458,-1.82,-585.0,1752,1963,3181,4095,56.1,-13.1,69,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1963,3181,3181,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.45,48.11
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,498,-0.45,0.0,1752,2152,3182,4094,60.4,-13.1,74,540,4.65,0.00,33.53,1.325,10244,0.051,0.000,2185,2152,2484,2484,4094,0,0,0,0,0,0,26.13,25.18,24.15,10.44,47.59
$STATE,541,end apogee,CONTROL_FINISHED_OK
$STATE,541,begin climb
$GC,546,1.82,585.0,2185,2152,2484,4094,63.4,0.0,81,594,7.57,1.10,33.10,1.280,10500,0.028,0.050,2905,2561,1802,1802,4094,0,0,0,0,0,0,25.38,25.34,23.77,10.30,46.41
$GC,603,1.82,585.0,2904,2560,1801,4094,59.1,11.8,90,610,0.00,1.10,0.00,0.000,1030,0.000,0.024,2904,2132,1801,1801,4094,0,0,0,0,0,0,25.10,25.08,25.13,10.14,45.27
$GC,644,1.82,585.0,2904,2131,1800,4094,53.4,14.4,96,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2132,1801,1801,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.13,45.15
$GC,684,1.82,585.0,2904,2131,1799,4094,47.7,14.7,102,691,0.00,1.08,0.00,0.000,516,0.000,0.044,2905,1720,1799,1799,4094,0,0,0,0,0,0,25.73,25.39,25.75,10.13,45.51
$GC,790,1.82,585.0,2904,1720,1795,4094,33.5,12.6,119,797,0.00,1.00,0.00,0.000,1030,0.000,0.030,2905,2124,1795,1795,4094,0,0,0,0,0,0,25.76,25.72,25.78,10.13,46.65
$GC,832,1.82,585.0,2904,2124,1795,4094,28.4,12.6,125,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2124,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.15,47.99
$GC,871,1.82,585.0,2903,2123,1792,4094,23.7,11.6,131,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2124,1793,1793,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.16,48.97
$GC,911,1.82,585.0,2904,2124,1792,4095,18.9,11.9,137,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2124,1791,1791,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.18,49.56
$GC,951,1.82,585.0,2904,2124,1790,4094,14.0,12.5,143,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2124,1790,1790,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.18,50.86
$GC,991,1.82,585.0,2904,2124,1789,4094,9.1,12.1,149,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2124,1789,1789,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.20,51.06
$GC,1030,1.82,585.0,2904,2124,1788,4094,4.7,11.0,155,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2124,1787,1787,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.20,51.77
$STATE,1054,end climb,FINISH_DEPTH_REACHED
$STATE,1054,begin subsurface finish
$FINISH1,1.5,1.024248,94
$GC,1065,0.14,94.2,2905,2124,1787,4094,1.5,11.3,159,1079,5.28,0.00,-5.20,0.000,20486,0.023,0.000,2387,2124,2379,2379,4094,0,0,0,0,0,0,26.09,24.53,26.14,10.21,51.89
$FINISH2,0.1
$STATE,1080,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1080,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,050239
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.87
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.77,49.080
$10V_AH,10.26,47.715
$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,34.450,7.075,66.625,0.000,0.000,25.629,15.135,269.996,0.000,0.000,15.851,416.602,243.934,157.391,511.472,310.031,0.000,339.882,0.000,244.427,0.000,0.542,0.000
$DEVICE_MAMPS,91.035,1244.655,1324.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.183,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329348
$DATA_FILE_SIZE,10766,161
$CAP_FILE_SIZE,31152,0
$CFSIZE,1024409600,934821888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260817,061913,6101.491,-17355.941,10,0.7,14,7.0,0.0,354.3,11,4.8