version: 66.13
glider: 401
mission: 22
dive: 1667
start: 8 25 117 6 52 37
data:
$ID,401
$MISSION,22
$DIVE,1667
$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,31
$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
$GPS1,250817,063215,6107.0391,-17354.4355,5,0.9,17,7.0,0.0,315.7,9,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-4.1
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.78,-487.5,2385,1939,2376,4092,0.0,0.0,0,17,5.60,0.00,0.00,0.000,4097,0.024,0.000,1835,1940,2376,2376,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.35,52.04
$GC,22,-1.78,-487.5,1835,1939,2376,4094,0.1,0.0,1,36,0.43,1.23,-6.30,0.000,20740,0.041,1.248,1789,2372,3056,3056,4095,0,0,0,0,0,0,26.07,24.44,26.10,10.35,51.85
$GC,270,-1.78,-487.5,1788,2373,3061,4095,26.4,-14.8,41,276,0.00,1.05,0.00,0.000,1030,0.000,0.029,1788,1956,3061,3061,4095,0,0,0,0,0,0,26.17,26.14,26.20,10.48,51.49
$GC,310,-1.78,-487.5,1788,1955,3062,4095,31.8,-13.5,47,317,0.00,1.12,0.00,0.000,260,0.000,0.044,1788,2376,3063,3063,4095,0,0,0,0,0,0,26.48,26.10,26.48,10.46,51.77
$GC,381,-1.78,-487.5,1788,2376,3064,4095,41.0,-13.2,58,387,0.00,1.10,0.00,0.000,1030,0.000,0.031,1788,1935,3064,3064,4094,0,0,0,0,0,0,26.22,26.18,26.25,10.44,50.55
$GC,421,-1.78,-487.5,1788,1935,3065,4094,46.2,-13.1,64,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1935,3065,3065,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,49.37
$GC,461,-1.78,-487.5,1788,1935,3066,4095,51.3,-13.1,70,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1935,3066,3066,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.41,49.29
$GC,501,-1.78,-487.5,1788,1935,3067,4094,56.2,-12.1,76,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1935,3067,3067,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.40,48.62
$STATE,530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,530,begin apogee
$GC,541,-0.45,0.0,1788,2145,3068,4095,60.2,-11.6,81,577,4.25,0.00,28.15,1.306,10244,0.051,0.000,2185,2145,2484,2484,4095,0,0,0,0,0,0,26.20,25.36,24.33,10.39,48.54
$STATE,578,end apogee,CONTROL_FINISHED_OK
$STATE,578,begin climb
$GC,583,1.78,487.5,2185,2145,2484,4095,63.0,0.0,87,624,7.47,0.00,27.83,1.268,11270,0.030,0.000,2891,2145,1916,1916,4095,0,0,0,0,0,0,25.63,25.79,23.93,10.27,47.63
$GC,659,1.78,487.5,2890,2145,1915,4095,56.4,13.1,99,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2145,1915,1915,4094,0,0,0,0,0,0,25.58,25.60,25.60,10.15,46.88
$GC,699,1.78,487.5,2890,2145,1914,4094,50.8,14.3,105,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2146,1914,1914,4095,0,0,0,0,0,0,25.76,25.77,25.77,10.14,47.04
$GC,738,1.78,487.5,2890,2145,1913,4095,45.3,13.3,111,745,0.00,1.15,0.00,0.000,516,0.000,0.044,2891,1714,1913,1913,4094,0,0,0,0,0,0,25.89,25.53,25.90,10.14,46.45
$GC,833,1.78,487.5,2890,1713,1910,4094,33.0,12.9,126,840,0.00,1.00,0.00,0.000,1030,0.000,0.029,2891,2121,1910,1910,4094,0,0,0,0,0,0,25.83,25.80,25.85,10.15,47.51
$GC,874,1.78,487.5,2890,2121,1908,4094,27.8,12.6,132,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2121,1908,1908,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.15,48.93
$GC,913,1.78,487.5,2891,2121,1908,4095,22.9,12.0,138,920,0.00,1.08,0.00,0.000,516,0.000,0.046,2891,1715,1907,1907,4094,0,0,0,0,0,0,26.20,25.83,26.21,10.16,48.66
$GC,972,1.79,495.5,2891,1714,1906,4094,16.6,10.4,147,979,0.00,1.00,0.00,0.000,1030,0.000,0.029,2891,2125,1906,1906,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.19,50.35
$GC,1013,1.79,495.5,2891,2125,1905,4094,12.0,11.3,153,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2125,1905,1905,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.21,51.10
$GC,1052,1.79,495.5,2891,2125,1903,4094,7.4,11.9,159,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2126,1903,1903,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.21,51.57
$GC,1092,1.79,495.5,2890,2125,1902,4094,2.8,11.3,165,1099,0.00,1.08,0.00,0.000,516,0.000,0.044,2891,1713,1902,1902,4094,0,0,0,0,0,0,26.37,25.99,26.39,10.22,52.67
$STATE,1104,end climb,FINISH_DEPTH_REACHED
$STATE,1104,begin subsurface finish
$FINISH1,0.9,1.024242,95
$GC,1116,0.14,94.6,2891,2141,1902,4094,0.9,11.8,167,1130,5.12,1.20,-4.20,0.000,20996,0.021,1.248,2385,1709,2380,2380,4094,0,0,0,0,0,0,26.13,24.37,26.17,10.22,53.07
$FINISH2,0.1
$STATE,1131,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1132,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,062508
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.99
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.93,47.358
$10V_AH,10.39,46.353
$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,22.875,13.075,55.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,438.921,273.756,137.274,245.401,97.298,0.000,314.788,0.000,254.025,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1247.715,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,14279,169
$CAP_FILE_SIZE,27660,0
$CFSIZE,1024409600,937574400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,063215,6107.039,-17354.436,5,0.9,17,7.0,0.0,315.7,9,4.6