version: 66.13
glider: 401
mission: 22
dive: 1664
start: 8 25 117 5 40 2
data:
$ID,401
$MISSION,22
$DIVE,1664
$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,25
$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
$GPS1,250817,051912,6106.8667,-17354.6211,5,0.8,18,7.0,0.4,322.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.7
$GPS2,250817,051912,6106.8667,-17354.6211,5,0.8,18,7.0,0.4,322.2,11,4.7
$SPEED_LIMITS,0.226,0.395
$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,154.1,44086,-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,-487.5,2384,1943,2380,4092,0.0,0.0,0,21,6.25,0.00,-2.40,0.000,20482,0.024,0.000,1775,1943,2640,2640,4094,0,0,0,0,0,0,26.15,28.83,26.21,10.35,52.32
$GC,26,-1.78,-487.5,1774,1943,2640,4094,0.0,0.0,1,36,0.00,0.00,-3.88,0.000,16390,0.000,0.000,1775,1943,3054,3054,4095,0,0,0,0,0,0,26.43,25.55,26.44,10.40,52.55
$GC,74,-1.78,-487.5,1775,1943,3055,4095,3.4,-12.5,7,83,0.00,1.08,0.00,0.000,516,0.000,0.050,1776,1517,3055,3055,4094,0,0,0,0,0,0,26.37,25.97,26.38,10.50,52.24
$GC,168,-1.78,-487.5,1774,1517,3058,4094,18.5,-16.2,20,177,0.00,1.05,0.00,0.000,1030,0.000,0.028,1775,1959,3058,3058,4095,0,0,0,0,0,0,26.19,26.17,26.20,10.50,51.85
$GC,216,-1.78,-487.5,1774,1959,3059,4095,25.9,-15.5,26,226,0.00,1.10,0.00,0.000,260,0.000,0.047,1775,2378,3060,3060,4095,0,0,0,0,0,0,26.47,26.08,26.48,10.48,52.32
$GC,298,-1.78,-487.5,1775,2378,3062,4095,37.2,-13.2,37,308,0.00,1.08,0.00,0.000,1030,0.000,0.030,1775,1945,3061,3061,4095,0,0,0,0,0,0,26.20,26.17,26.25,10.43,50.39
$GC,348,-1.78,-487.5,1774,1945,3062,4095,43.7,-13.6,43,357,0.00,1.05,0.00,0.000,516,0.000,0.050,1775,1526,3062,3062,4095,0,0,0,0,0,0,26.53,26.13,26.54,10.42,49.56
$GC,415,-1.78,-487.5,1775,1526,3064,4095,53.0,-13.5,52,424,0.00,1.00,0.00,0.000,1030,0.000,0.028,1775,1954,3064,3064,4095,0,0,0,0,0,0,26.31,26.28,26.33,10.40,48.81
$GC,462,-1.78,-487.5,1774,1954,3066,4095,59.2,-12.9,58,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3066,3066,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.39,48.30
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,489,-0.45,0.0,1775,2140,3066,4094,61.9,-13.0,60,525,4.40,0.00,28.10,1.321,10244,0.052,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.20,25.34,24.32,10.39,48.38
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,531,1.78,487.5,2186,2140,2484,4094,65.1,0.0,64,575,7.47,0.00,27.90,1.291,11270,0.030,0.000,2892,2140,1915,1915,4094,0,0,0,0,0,0,25.63,25.79,23.91,10.27,47.16
$GC,615,1.78,487.5,2891,2140,1914,4094,57.9,13.4,74,625,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1715,1914,1914,4094,0,0,0,0,0,0,25.63,25.31,25.63,10.14,46.69
$GC,730,1.78,487.5,2891,1715,1911,4094,42.6,13.1,90,740,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2121,1911,1911,4094,0,0,0,0,0,0,25.74,25.72,25.76,10.13,46.61
$GC,779,1.78,487.5,2891,2121,1909,4094,36.3,12.9,96,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2121,1909,1909,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.14,46.96
$GC,828,1.78,487.5,2891,2121,1908,4094,30.2,12.2,102,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2121,1907,1907,4095,0,0,0,0,0,0,26.16,26.17,26.17,10.14,47.59
$GC,875,1.78,487.5,2891,2121,1907,4095,24.5,11.8,108,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1906,1906,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.15,48.58
$GC,924,1.78,487.5,2891,2121,1905,4094,19.2,11.2,114,933,0.00,1.08,0.00,0.000,516,0.000,0.045,2892,1714,1905,1905,4094,0,0,0,0,0,0,26.27,25.89,26.28,10.18,49.33
$GC,1006,1.78,487.5,2891,1714,1903,4094,10.0,11.3,125,1015,0.00,1.00,0.00,0.000,1030,0.000,0.030,2892,2125,1902,1902,4094,0,0,0,0,0,0,26.08,26.04,26.11,10.20,50.98
$GC,1055,1.78,487.5,2891,2125,1901,4094,4.3,11.8,131,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2126,1901,1901,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.21,51.81
$STATE,1071,end climb,FINISH_DEPTH_REACHED
$STATE,1071,begin subsurface finish
$FINISH1,1.7,1.024242,95
$GC,1082,0.14,94.7,2892,2125,1901,4094,1.7,11.5,133,1101,5.18,1.17,-4.22,0.000,20996,0.026,1.261,2386,1712,2375,2375,4094,0,0,0,0,0,0,26.13,24.49,26.18,10.22,51.89
$FINISH2,0.1
$STATE,1102,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,040123
$TT8_MAMPS,0.026215,0.240429
$HUMID,52.44
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.91,47.276
$10V_AH,10.16,46.293
$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,23.300,12.650,56.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,390.132,0.000,113.561,562.670,96.396,0.000,337.724,0.000,329.672,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1260.720,1321.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.859,366.785,290.271,430.593,560.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,14315,135
$CAP_FILE_SIZE,25472,0
$CFSIZE,1024409600,937721856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,051912,6106.867,-17354.621,5,0.8,18,7.0,0.4,322.2,11,4.7