version: 66.13
glider: 401
mission: 22
dive: 1670
start: 8 25 117 8 10 15
data:
$ID,401
$MISSION,22
$DIVE,1670
$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,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
$GPS1,250817,074926,6107.2070,-17353.9453,5,0.8,16,7.0,0.0,122.4,10,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.6
$GPS2,250817,074926,6107.2070,-17353.9453,5,0.8,16,7.0,0.0,122.4,10,4.8
$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,155.2,44491,-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,-487.5,2386,1945,2380,4092,0.0,0.0,0,22,6.28,0.00,-2.12,0.000,20482,0.024,0.000,1772,1945,2636,2636,4095,0,0,0,0,0,0,26.17,28.83,26.22,10.35,52.28
$GC,27,-1.78,-487.5,1772,1945,2636,4095,0.5,0.0,1,36,0.00,0.00,-3.08,0.000,16390,0.000,0.000,1772,1945,3058,3058,4094,0,0,0,0,0,0,26.43,25.55,26.43,10.40,52.91
$GC,74,-1.78,-487.5,1772,1945,3059,4094,6.0,-14.4,7,83,0.00,1.08,0.00,0.000,516,0.000,0.051,1772,1523,3059,3059,4095,0,0,0,0,0,0,26.36,25.96,26.36,10.50,52.75
$GC,201,-1.78,-487.5,1771,1523,3062,4095,26.6,-15.7,25,211,0.00,1.02,0.00,0.000,1030,0.000,0.027,1772,1957,3062,3062,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.48,51.57
$GC,251,-1.78,-487.5,1772,1957,3064,4094,33.4,-13.1,31,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1957,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.45,51.10
$GC,299,-1.78,-487.5,1771,1956,3065,4095,39.7,-13.3,37,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1957,3065,3065,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.44,50.51
$GC,347,-1.78,-487.5,1771,1957,3066,4095,46.1,-13.3,43,356,0.00,1.08,0.00,0.000,260,0.000,0.045,1772,2369,3067,3067,4095,0,0,0,0,0,0,26.53,26.15,26.54,10.42,49.76
$GC,400,-1.78,-487.5,1771,2369,3068,4095,53.1,-12.7,50,410,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1936,3068,3068,4095,0,0,0,0,0,0,26.26,26.20,26.28,10.41,48.77
$GC,448,-1.78,-487.5,1772,1936,3069,4095,59.1,-12.4,56,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1936,3069,3069,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.40,48.85
$STATE,465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,475,-0.45,0.0,1773,2139,3069,4095,61.8,-13.0,58,511,4.43,0.00,28.30,1.317,10244,0.054,0.000,2185,2139,2484,2484,4095,0,0,0,0,0,0,26.18,25.35,24.32,10.40,48.11
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,516,1.78,487.5,2185,2139,2484,4095,65.0,0.0,62,561,7.50,0.00,27.83,1.284,11270,0.031,0.000,2893,2139,1917,1917,4094,0,0,0,0,0,0,25.61,25.78,23.91,10.27,47.36
$GC,601,1.78,487.5,2892,2139,1916,4094,57.8,13.5,72,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2139,1916,1916,4095,0,0,0,0,0,0,25.63,25.64,25.63,10.14,46.29
$GC,650,1.78,487.5,2892,2139,1915,4095,50.9,13.8,78,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2139,1914,1914,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.13,46.10
$GC,699,1.78,487.5,2892,2139,1913,4094,44.0,14.1,84,708,0.00,1.15,0.00,0.000,516,0.000,0.045,2893,1709,1913,1913,4094,0,0,0,0,0,0,25.95,25.59,25.96,10.13,46.85
$GC,780,1.78,487.5,2893,1708,1910,4094,33.0,13.1,95,790,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2125,1910,1910,4094,0,0,0,0,0,0,25.84,25.81,25.87,10.14,47.24
$GC,830,1.78,487.5,2892,2125,1908,4094,26.6,12.8,101,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2126,1909,1909,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.14,47.79
$GC,878,1.78,487.5,2892,2125,1908,4094,20.7,11.5,107,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1907,1907,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.17,49.05
$GC,927,1.78,487.5,2892,2125,1906,4095,15.5,10.7,113,935,0.00,1.08,0.00,0.000,516,0.000,0.045,2893,1717,1906,1906,4094,0,0,0,0,0,0,26.29,25.91,26.30,10.19,50.90
$STATE,1041,end climb,FINISH_DEPTH_REACHED
$STATE,1041,begin subsurface finish
$FINISH1,1.9,1.024227,96
$GC,1053,0.14,95.7,2893,2141,1902,4094,1.9,10.7,130,1072,5.20,1.20,-4.15,0.000,20996,0.028,1.258,2386,1711,2374,2374,4095,0,0,0,0,0,0,26.14,24.49,26.18,10.21,51.89
$FINISH2,0.1
$STATE,1074,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1074,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,074213
$TT8_MAMPS,0.025466,0.241178
$HUMID,53.07
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.91,47.446
$10V_AH,10.16,46.435
$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,23.400,10.750,56.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.336,0.000,110.662,551.144,92.593,0.000,328.138,0.000,323.013,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1257.660,1317.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.835,358.653,283.789,420.975,548.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,14252,132
$CAP_FILE_SIZE,24061,0
$CFSIZE,1024409600,937426944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,074926,6107.207,-17353.945,5,0.8,16,7.0,0.0,122.4,10,4.8