version: 66.13
glider: 401
mission: 22
dive: 1656
start: 8 25 117 2 26 8
data:
$ID,401
$MISSION,22
$DIVE,1656
$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,24
$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
$GPS1,250817,014517,6107.2925,-17353.1855,5,0.8,16,7.0,0.0,222.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-2.0
$GPS2,250817,014517,6107.2925,-17353.1855,5,0.8,16,7.0,0.0,222.2,11,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,146.4,6901,-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,5,begin dive
$GC,10,-1.78,-487.5,2389,1950,2383,4092,0.0,0.0,0,20,6.25,0.00,-1.25,0.000,20482,0.021,0.000,1770,1950,2520,2520,4095,0,0,0,0,0,0,26.19,28.83,26.23,10.33,53.26
$GC,25,-1.78,-487.5,1769,1949,2520,4095,0.1,0.0,1,34,0.00,0.00,-5.00,0.000,16390,0.000,0.000,1770,1950,3055,3055,4095,0,0,0,0,0,0,26.41,24.71,26.43,10.36,53.70
$GC,72,-1.78,-487.5,1769,1950,3056,4095,3.8,-13.1,7,82,0.00,1.08,0.00,0.000,516,0.000,0.051,1769,1522,3057,3057,4094,0,0,0,0,0,0,26.39,26.01,26.40,10.48,52.79
$GC,152,-1.78,-487.5,1769,1522,3059,4094,17.3,-16.9,18,162,0.00,1.02,0.00,0.000,1030,0.000,0.028,1770,1954,3060,3060,4095,0,0,0,0,0,0,26.16,26.16,26.18,10.47,52.63
$GC,200,-1.78,-487.5,1769,1954,3061,4095,24.7,-15.5,24,209,0.00,1.10,0.00,0.000,260,0.000,0.047,1769,2372,3061,3061,4094,0,0,0,0,0,0,26.47,26.08,26.48,10.47,52.44
$GC,279,-1.78,-487.5,1769,2372,3062,4094,35.8,-13.9,35,289,0.00,1.05,0.00,0.000,1030,0.000,0.031,1769,1952,3063,3063,4094,0,0,0,0,0,0,26.20,26.17,26.24,10.43,51.73
$GC,327,-1.78,-487.5,1769,1951,3064,4094,42.2,-12.9,41,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1952,3064,3064,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.42,51.14
$GC,374,-1.78,-487.5,1769,1951,3065,4094,48.3,-12.4,47,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1952,3065,3065,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.40,49.80
$GC,421,-1.78,-487.5,1769,1952,3066,4094,54.6,-13.7,53,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1952,3067,3067,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.39,49.40
$STATE,457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,457,begin apogee
$GC,468,-0.45,0.0,1769,2143,3068,4094,60.1,-13.5,58,504,4.47,0.00,28.27,1.307,10244,0.054,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.20,25.36,24.33,10.38,48.93
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,509,1.78,487.5,2186,2142,2484,4094,63.5,0.0,62,554,7.50,0.00,27.90,1.275,11270,0.031,0.000,2893,2143,1915,1915,4094,0,0,0,0,0,0,25.62,25.79,23.90,10.26,47.75
$GC,594,1.78,487.5,2892,2142,1914,4094,56.4,13.1,72,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2143,1913,1913,4094,0,0,0,0,0,0,25.63,25.64,25.63,10.13,47.00
$GC,643,1.78,487.5,2892,2142,1913,4094,49.9,13.5,78,653,0.00,1.15,0.00,0.000,516,0.000,0.045,2893,1710,1912,1912,4094,0,0,0,0,0,0,25.82,25.48,25.82,10.12,46.73
$GC,730,1.78,487.5,2892,1709,1910,4094,37.7,13.7,90,739,0.00,1.02,0.00,0.000,1030,0.000,0.030,2893,2124,1909,1909,4094,0,0,0,0,0,0,25.77,25.74,25.81,10.12,47.24
$GC,778,1.78,487.5,2892,2123,1908,4094,31.3,13.2,96,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1908,1908,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.13,47.75
$GC,825,1.78,487.5,2892,2123,1907,4094,25.1,12.8,102,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1907,1907,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.14,48.11
$GC,872,1.78,487.5,2892,2123,1905,4094,19.5,11.6,108,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2124,1905,1905,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.17,49.44
$GC,919,1.78,487.5,2892,2123,1904,4094,13.9,11.8,114,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1904,1904,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.19,50.78
$GC,965,1.78,487.5,2892,2122,1902,4094,8.6,11.5,120,975,0.00,1.10,0.00,0.000,516,0.000,0.046,2893,1707,1903,1903,4094,0,0,0,0,0,0,26.32,25.94,26.34,10.19,51.02
$STATE,1022,end climb,SURFACE_DEPTH_REACHED
$STATE,1022,begin surface coast
$FINISH,0.1,1.005256
$STATE,1043,end surface coast,CONTROL_FINISHED_OK
$STATE,1043,begin surface
$SM_CCo,1147,0.00,0.000,0,0,1900,502.28
$SM_GC,1.01,27.73,0.60,0.00,0.020,0.035,0.000,229,1949,1900,-6.59,-1.50,502.28,0,0,0,0,0,0,25.99,26.09,26.08
$IRIDIUM_FIX,6149.06,-17422.35,250817,002829
$TT8_MAMPS,0.025466,0.248668
$HUMID,51.85
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.90,47.046
$10V_AH,10.14,46.105
$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,45.950,9.100,56.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,371.448,60.121,133.418,547.535,102.069,0.000,349.073,0.000,321.093,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,51.255,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.110,355.897,281.640,417.523,545.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,14365,131
$CAP_FILE_SIZE,26000,0
$CFSIZE,1024409600,938115072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,024613,6106.813,-17353.842,8,0.8,16,7.0,0.6,279.6,11,4.5