version: 66.13
glider: 401
mission: 22
dive: 1660
start: 8 25 117 4 7 43
data:
$ID,401
$MISSION,22
$DIVE,1660
$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,51
$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
$GPS1,250817,035753,6106.6602,-17354.4082,5,1.2,50,7.0,0.3,353.3,8,3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-40.3
$GPS2,250817,040707,6106.7012,-17354.5469,6,0.8,17,7.0,0.0,267.6,11,4.8
$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,132.7,6657,-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,-487.5,237,1979,1900,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.088,0.000,961,1979,1900,1900,4095,0,0,0,0,0,0,26.23,28.83,28.83,10.28,51.89
$GC,26,-1.78,-487.5,960,1979,1900,4095,0.7,0.0,1,54,8.60,1.27,-10.68,0.000,18948,0.041,1.255,1763,1526,3054,3054,4095,0,0,0,0,0,0,25.90,24.28,25.97,10.28,51.22
$GC,304,-1.78,-487.5,1762,1526,3061,4095,33.6,-13.8,41,314,0.00,0.95,0.00,0.000,1030,0.000,0.025,1763,1938,3061,3061,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.48,49.29
$GC,354,-1.78,-487.5,1762,1938,3062,4094,40.0,-13.6,47,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1937,3062,3062,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.46,49.13
$GC,402,-1.78,-487.5,1762,1937,3063,4095,46.4,-13.4,53,412,0.00,1.12,0.00,0.000,260,0.000,0.044,1763,2369,3063,3063,4094,0,0,0,0,0,0,26.46,26.07,26.46,10.45,48.54
$GC,469,-1.78,-487.5,1762,2368,3064,4094,55.5,-13.3,62,479,0.00,1.02,0.00,0.000,1030,0.000,0.029,1763,1962,3065,3065,4094,0,0,0,0,0,0,26.20,26.20,26.24,10.42,47.28
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,517,-0.45,0.0,1763,2137,3066,4094,60.7,-12.5,67,553,4.53,0.00,28.23,1.306,10244,0.054,0.000,2185,2137,2483,2483,4095,0,0,0,0,0,0,26.13,25.30,24.27,10.41,46.69
$STATE,554,end apogee,CONTROL_FINISHED_OK
$STATE,554,begin climb
$GC,559,1.78,487.5,2185,2137,2484,4095,63.8,0.0,71,604,7.50,1.12,27.92,1.276,10500,0.029,0.051,2892,2557,1916,1916,4094,0,0,0,0,0,0,25.49,25.44,23.89,10.29,46.49
$GC,616,1.78,487.5,2892,2557,1916,4094,59.9,10.9,77,625,0.00,1.10,0.00,0.000,1030,0.000,0.025,2892,2127,1916,1916,4094,0,0,0,0,0,0,25.21,25.22,25.25,10.17,45.07
$GC,663,1.78,487.5,2892,2127,1914,4094,53.2,13.9,83,673,0.00,1.05,0.00,0.000,516,0.000,0.045,2892,1721,1914,1914,4094,0,0,0,0,0,0,25.70,25.37,25.70,10.16,45.19
$GC,743,1.78,487.5,2892,1720,1912,4094,42.0,14.0,94,753,0.00,0.98,0.00,0.000,1030,0.000,0.028,2893,2118,1912,1912,4094,0,0,0,0,0,0,25.70,25.67,25.71,10.16,45.94
$GC,791,1.78,487.5,2892,2117,1910,4094,35.6,13.3,100,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2117,1910,1910,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.15,46.22
$GC,838,1.78,487.5,2892,2118,1909,4094,29.3,13.3,106,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2117,1908,1908,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.16,46.65
$GC,885,1.78,487.5,2892,2117,1907,4094,23.4,12.5,112,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2118,1907,1907,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.18,47.59
$GC,932,1.78,487.5,2892,2117,1906,4094,18.0,11.4,118,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2117,1905,1905,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.19,48.34
$GC,979,1.78,487.5,2892,2117,1905,4094,12.8,11.3,124,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2118,1904,1904,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.21,49.44
$GC,1026,1.78,487.5,2892,2117,1903,4094,7.4,11.1,130,1035,0.00,1.05,0.00,0.000,516,0.000,0.046,2893,1718,1902,1902,4095,0,0,0,0,0,0,26.33,25.95,26.34,10.23,50.27
$STATE,1077,end climb,FINISH_DEPTH_REACHED
$STATE,1077,begin subsurface finish
$FINISH1,1.6,1.024240,95
$GC,1089,0.14,94.8,2892,2142,1901,4094,1.6,10.1,137,1108,5.18,1.17,-4.25,0.000,20996,0.024,1.251,2384,1718,2376,2376,4095,0,0,0,0,0,0,26.13,24.46,26.17,10.23,50.78
$FINISH2,0.1
$STATE,1109,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1109,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,024951
$TT8_MAMPS,0.025466,0.252413
$HUMID,51.10
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.89,47.169
$10V_AH,10.13,46.203
$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,34.275,12.325,56.150,0.000,0.000,24.293,18.470,282.544,0.000,0.000,18.329,391.170,0.000,115.078,881.977,285.224,0.000,346.493,0.000,340.415,0.000,0.543,0.000
$DEVICE_MAMPS,87.975,1255.365,1305.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.478,377.667,298.829,442.979,579.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,14303,139
$CAP_FILE_SIZE,28675,0
$CFSIZE,1024409600,937918464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250817,040707,6106.701,-17354.547,6,0.8,17,7.0,0.0,267.6,11,4.8