version: 66.13
glider: 401
mission: 22
dive: 1658
start: 8 25 117 3 16 30
data:
$ID,401
$MISSION,22
$DIVE,1658
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,250817,025543,6106.8276,-17354.0176,5,0.8,17,7.0,0.6,286.7,11,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-2.8
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.78,-487.5,2385,1951,2379,4092,0.0,0.0,0,21,6.12,0.00,-2.55,0.000,20482,0.022,0.000,1786,1952,2658,2658,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.35,52.55
$GC,26,-1.78,-487.5,1786,1952,2658,4094,0.1,0.0,1,36,0.00,1.15,-3.42,0.000,16900,0.000,1.266,1786,1521,3057,3057,4095,0,0,0,0,0,0,26.42,24.49,26.42,10.40,52.36
$GC,141,-1.78,-487.5,1786,1521,3060,4095,15.1,-15.0,17,150,0.00,1.02,0.00,0.000,1030,0.000,0.026,1786,1954,3061,3061,4095,0,0,0,0,0,0,26.16,26.13,26.15,10.50,52.24
$GC,190,-1.78,-487.5,1785,1954,3061,4095,22.3,-14.7,23,198,0.00,1.10,0.00,0.000,260,0.000,0.045,1786,2373,3062,3062,4095,0,0,0,0,0,0,26.44,26.04,26.45,10.49,51.96
$GC,282,-1.78,-487.5,1785,2373,3064,4095,35.0,-12.5,36,292,0.00,1.02,0.00,0.000,1030,0.000,0.029,1786,1967,3064,3064,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.44,50.82
$GC,331,-1.78,-487.5,1786,1967,3065,4095,41.1,-13.0,42,341,0.00,1.15,0.00,0.000,516,0.000,0.050,1786,1513,3065,3065,4095,0,0,0,0,0,0,26.51,26.10,26.53,10.43,49.92
$GC,386,-1.78,-487.5,1785,1513,3066,4095,48.3,-12.8,49,395,0.00,1.08,0.00,0.000,1030,0.000,0.027,1786,1970,3066,3066,4095,0,0,0,0,0,0,26.28,26.27,26.34,10.42,49.05
$GC,434,-1.78,-487.5,1785,1970,3067,4095,54.3,-12.1,55,443,0.00,1.05,0.00,0.000,260,0.000,0.046,1786,2371,3067,3067,4095,0,0,0,0,0,0,26.55,26.17,26.57,10.40,48.70
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,488,-0.45,0.0,1786,2107,3068,4094,60.3,-12.1,61,523,4.28,0.00,28.23,1.310,10244,0.052,0.000,2186,2107,2484,2484,4095,0,0,0,0,0,0,26.20,25.35,24.32,10.39,48.42
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,529,1.78,487.5,2185,2107,2484,4095,63.2,0.0,65,573,7.47,0.00,27.92,1.271,11270,0.030,0.000,2892,2107,1915,1915,4094,0,0,0,0,0,0,25.62,25.79,23.91,10.27,47.63
$GC,614,1.78,487.5,2891,2106,1914,4094,55.4,14.2,75,623,0.00,0.98,0.00,0.000,516,0.000,0.047,2892,1735,1913,1913,4094,0,0,0,0,0,0,25.63,25.32,25.63,10.14,46.41
$GC,681,1.78,487.5,2891,1735,1911,4094,45.9,13.8,84,691,0.00,0.95,0.00,0.000,1030,0.000,0.029,2892,2119,1911,1911,4094,0,0,0,0,0,0,25.61,25.58,25.65,10.14,46.29
$GC,729,1.78,487.5,2891,2118,1910,4094,39.3,13.7,90,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2119,1910,1910,4095,0,0,0,0,0,0,25.98,26.00,26.00,10.14,46.69
$GC,776,1.78,487.5,2891,2119,1908,4095,33.1,13.0,96,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2119,1907,1907,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.14,47.28
$GC,822,1.78,487.5,2892,2119,1907,4094,27.0,13.6,102,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2119,1907,1907,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.14,48.46
$GC,868,1.78,487.5,2891,2119,1905,4094,21.5,11.5,108,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2119,1905,1905,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.16,48.66
$GC,914,1.78,487.5,2891,2119,1905,4094,16.2,11.1,114,924,0.00,1.02,0.00,0.000,516,0.000,0.045,2892,1730,1904,1904,4094,0,0,0,0,0,0,26.26,25.89,26.27,10.19,49.56
$GC,1027,1.78,487.5,2891,1730,1900,4094,3.3,11.0,130,1037,0.00,0.98,0.00,0.000,1030,0.000,0.032,2892,2127,1901,1901,4094,0,0,0,0,0,0,26.08,26.03,26.10,10.21,51.73
$STATE,1045,end climb,FINISH_DEPTH_REACHED
$STATE,1045,begin subsurface finish
$FINISH1,1.0,1.024261,93
$GC,1056,0.14,93.3,2892,2127,1900,4094,1.0,10.9,132,1074,5.18,0.00,-4.30,0.000,20486,0.024,0.000,2385,2128,2381,2381,4094,0,0,0,0,0,0,26.11,25.45,26.16,10.21,52.00
$FINISH2,0.1
$STATE,1075,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1075,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,013929
$TT8_MAMPS,0.026215,0.259154
$HUMID,52.28
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.30
$XPDR_PINGS,1
$24V_AH,23.91,47.107
$10V_AH,10.16,46.153
$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,23.050,12.550,56.150,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,376.799,0.000,110.040,557.517,91.721,0.000,327.651,0.000,326.808,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1266.075,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.102,364.044,288.093,427.074,555.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,14374,134
$CAP_FILE_SIZE,25229,0
$CFSIZE,1024409600,938016768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,025543,6106.828,-17354.018,5,0.8,17,7.0,0.6,286.7,11,4.7