version: 66.13
glider: 401
mission: 22
dive: 1666
start: 8 25 117 6 32 51
data:
$ID,401
$MISSION,22
$DIVE,1666
$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,27
$R_STBD_OVSHOOT,43
$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
$GPS1,250817,062136,6106.9551,-17354.3867,5,0.7,38,7.0,0.5,9.4,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-40.8
$GPS2,250817,063215,6107.0391,-17354.4355,5,0.9,17,7.0,0.0,315.7,9,4.6
$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,154.5,44334,-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,-487.5,230,1974,1901,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.091,0.000,949,1973,1901,1901,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.28,51.37
$GC,26,-1.78,-487.5,949,1973,1901,4094,0.8,0.0,1,54,8.65,1.10,-10.62,0.000,19204,0.038,1.235,1763,2367,3054,3054,4095,0,0,0,0,0,0,25.92,24.27,25.96,10.29,51.77
$GC,66,-1.78,-487.5,1763,2367,3054,4095,0.6,0.7,5,75,0.00,1.05,0.00,0.000,1030,0.000,0.026,1763,1953,3055,3055,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.54,52.04
$GC,114,-1.78,-487.5,1763,1953,3055,4094,7.1,-14.6,11,123,0.00,1.10,0.00,0.000,516,0.000,0.047,1763,1520,3056,3056,4094,0,0,0,0,0,0,26.21,25.80,26.22,10.54,51.10
$GC,381,-1.78,-487.5,1763,1520,3063,4094,47.7,-14.0,50,390,0.00,1.02,0.00,0.000,1030,0.000,0.027,1763,1957,3064,3064,4095,0,0,0,0,0,0,26.18,26.17,26.22,10.44,47.95
$GC,429,-1.78,-487.5,1763,1957,3064,4095,54.2,-13.5,56,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3065,3065,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.43,48.07
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,482,-0.45,0.0,1763,2147,3065,4095,60.3,-12.8,62,518,4.53,0.00,28.23,1.304,10244,0.054,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.12,25.29,24.27,10.41,46.88
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,524,1.78,487.5,2185,2146,2484,4094,63.6,0.0,66,568,7.53,0.00,27.95,1.273,11270,0.030,0.000,2894,2147,1916,1916,4094,0,0,0,0,0,0,25.57,25.73,23.89,10.29,46.22
$GC,608,1.78,487.5,2893,2146,1915,4094,56.4,13.3,76,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2147,1915,1915,4094,0,0,0,0,0,0,25.60,25.62,25.62,10.16,44.99
$GC,657,1.78,487.5,2893,2146,1913,4094,49.7,13.5,82,666,0.00,1.15,0.00,0.000,516,0.000,0.044,2894,1712,1913,1913,4094,0,0,0,0,0,0,25.80,25.46,25.81,10.15,45.07
$GC,776,1.78,487.5,2893,1711,1910,4094,33.7,13.1,99,786,0.00,1.02,0.00,0.000,1030,0.000,0.029,2894,2128,1909,1909,4095,0,0,0,0,0,0,25.84,25.78,25.84,10.16,46.53
$GC,824,1.78,487.5,2893,2128,1908,4095,27.7,12.2,105,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2128,1907,1907,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.16,47.04
$GC,871,1.78,487.5,2893,2128,1906,4094,22.0,11.5,111,881,0.00,1.10,0.00,0.000,516,0.000,0.045,2894,1710,1906,1906,4094,0,0,0,0,0,0,26.22,25.84,26.22,10.19,48.30
$GC,947,1.78,487.5,2893,1709,1904,4094,13.5,11.3,121,956,0.00,1.02,0.00,0.000,1030,0.000,0.028,2894,2129,1903,1903,4094,0,0,0,0,0,0,26.02,26.01,26.05,10.22,49.80
$GC,996,1.78,487.5,2893,2129,1903,4094,7.7,11.8,127,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2129,1903,1903,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.22,50.31
$STATE,1040,end climb,FINISH_DEPTH_REACHED
$STATE,1040,begin subsurface finish
$FINISH1,1.9,1.024235,95
$GC,1051,0.14,95.1,2894,2129,1901,4094,1.9,11.7,133,1070,5.18,0.00,-4.22,0.000,20998,0.022,0.000,2385,2131,2376,2376,4095,0,0,0,0,0,0,26.12,25.45,26.17,10.23,51.18
$FINISH2,0.1
$STATE,1071,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1071,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,062508
$TT8_MAMPS,0.025466,0.248668
$HUMID,51.57
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.89,47.337
$10V_AH,10.14,46.342
$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,34.350,9.025,56.175,0.000,0.000,53.673,45.484,256.832,0.000,0.000,19.069,383.328,45.481,106.948,905.117,279.164,0.000,326.671,0.000,333.566,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1235.475,1304.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.064,366.801,290.262,430.604,562.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329312
$DATA_FILE_SIZE,14233,135
$CAP_FILE_SIZE,27628,0
$CFSIZE,1024409600,937623552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250817,063215,6107.039,-17354.436,5,0.9,17,7.0,0.0,315.7,9,4.6