version: 66.13
glider: 401
mission: 22
dive: 1657
start: 8 25 117 2 56 18
data:
$ID,401
$MISSION,22
$DIVE,1657
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,250817,024613,6106.8135,-17353.8418,8,0.8,16,7.0,0.6,279.6,11,4.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-42.9
$GPS2,250817,025543,6106.8276,-17354.0176,5,0.8,17,7.0,0.6,286.7,11,4.7
$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,137.2,6549,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.78,-487.5,229,1957,1900,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,2049,0.096,0.000,703,1957,1900,1900,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.27,50.98
$GC,23,-1.78,-487.5,703,1956,1900,4094,0.8,0.0,1,54,11.62,1.20,-10.65,0.000,19204,0.055,1.245,1763,2375,3057,3057,4095,0,0,0,0,0,0,25.91,24.22,25.94,10.27,51.61
$GC,287,-1.78,-487.5,1763,2375,3064,4095,31.7,-13.6,44,294,0.00,1.08,0.00,0.000,1030,0.000,0.029,1763,1945,3064,3064,4094,0,0,0,0,0,0,26.08,26.05,26.11,10.48,49.64
$GC,328,-1.78,-487.5,1763,1945,3065,4094,37.2,-14.4,50,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3065,3065,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.46,49.17
$GC,368,-1.78,-487.5,1763,1945,3065,4094,42.7,-13.4,56,374,0.00,1.15,0.00,0.000,260,0.000,0.043,1764,2375,3065,3065,4095,0,0,0,0,0,0,26.43,26.04,26.44,10.45,48.38
$GC,420,-1.78,-487.5,1763,2374,3067,4095,49.7,-13.3,64,427,0.00,1.08,0.00,0.000,1030,0.000,0.030,1764,1943,3067,3067,4095,0,0,0,0,0,0,26.16,26.13,26.20,10.43,47.99
$GC,461,-1.78,-487.5,1763,1942,3068,4095,54.9,-12.4,70,467,0.00,1.05,0.00,0.000,516,0.000,0.050,1764,1524,3068,3068,4094,0,0,0,0,0,0,26.48,26.08,26.49,10.42,48.22
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,509,-0.45,0.0,1763,2138,3069,4095,60.4,-13.5,76,545,4.55,0.00,28.38,1.317,10244,0.053,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.11,25.28,24.25,10.41,47.24
$STATE,546,end apogee,CONTROL_FINISHED_OK
$STATE,546,begin climb
$GC,550,1.78,487.5,2185,2139,2483,4094,63.7,0.0,82,592,7.53,0.00,27.77,1.279,11270,0.030,0.000,2894,2139,1916,1916,4095,0,0,0,0,0,0,25.56,25.72,23.87,10.29,47.16
$GC,626,1.78,487.5,2893,2138,1914,4095,56.9,13.8,94,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2139,1915,1915,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.16,45.78
$GC,666,1.78,487.5,2893,2138,1914,4094,51.5,13.9,100,673,0.00,1.12,0.00,0.000,516,0.000,0.043,2894,1719,1913,1913,4094,0,0,0,0,0,0,25.72,25.40,25.75,10.15,45.35
$GC,748,1.78,487.5,2893,1719,1911,4094,40.0,13.7,113,755,0.00,1.00,0.00,0.000,1030,0.000,0.028,2894,2125,1911,1911,4094,0,0,0,0,0,0,25.71,25.67,25.74,10.15,46.33
$GC,789,1.78,487.5,2893,2125,1910,4094,34.7,13.4,119,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2125,1910,1910,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.15,46.77
$GC,829,1.78,487.5,2893,2125,1908,4094,29.6,12.7,125,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2125,1908,1908,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.14,47.40
$GC,869,1.78,487.5,2893,2125,1907,4094,24.5,12.1,131,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2125,1907,1907,4095,0,0,0,0,0,0,26.17,26.18,26.18,10.17,47.83
$GC,908,1.78,487.5,2893,2125,1906,4095,19.9,11.4,137,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2125,1906,1906,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.19,49.25
$GC,948,1.78,487.5,2893,2125,1905,4094,15.2,12.2,143,955,0.00,1.08,0.00,0.000,516,0.000,0.044,2894,1718,1905,1905,4094,0,0,0,0,0,0,26.26,25.89,26.27,10.20,50.23
$GC,1060,1.78,487.5,2893,1717,1901,4094,2.2,11.0,161,1067,0.00,0.98,0.00,0.000,1030,0.000,0.028,2894,2119,1901,1901,4094,0,0,0,0,0,0,26.09,26.07,26.13,10.23,51.53
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,0.4,1.024242,95
$GC,1084,0.14,94.6,2893,2120,1901,4094,0.4,11.6,163,1098,5.18,0.00,-4.25,0.000,20486,0.023,0.000,2385,2126,2379,2379,4095,0,0,0,0,0,0,26.13,24.58,26.17,10.24,51.77
$FINISH2,0.2
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,013929
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.12
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.87,47.087
$10V_AH,10.26,46.123
$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,34.525,11.275,56.150,0.000,0.000,25.740,20.101,283.506,0.000,0.000,19.123,431.908,265.460,142.574,545.045,291.784,0.000,321.545,0.000,250.105,0.000,0.543,0.000
$DEVICE_MAMPS,96.390,1244.655,1317.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.424,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,10888,165
$CAP_FILE_SIZE,30590,0
$CFSIZE,1024409600,938065920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250817,025543,6106.828,-17354.018,5,0.8,17,7.0,0.6,286.7,11,4.7