version: 66.13
glider: 401
mission: 22
dive: 1672
start: 8 25 117 9 11 8
data:
$ID,401
$MISSION,22
$DIVE,1672
$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,61
$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
$GPS1,250817,085059,6107.0303,-17352.9004,5,0.8,16,7.0,0.0,258.7,10,4.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-37.9
$GPS2,250817,091027,6107.0708,-17352.8223,5,0.8,18,7.0,0.0,98.8,10,5.0
$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,156.3,43949,-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,-487.5,236,1937,1900,4092,0.0,0.0,0,21,8.55,0.00,0.00,0.000,2049,0.092,0.000,960,1937,1900,1900,4094,1,0,0,0,0,0,25.62,28.83,28.83,10.30,50.31
$GC,26,-1.78,-487.5,959,1937,1900,4094,0.8,0.0,1,53,8.57,1.17,-10.52,0.000,19204,0.040,1.242,1763,2342,3054,3054,4095,0,0,0,0,0,0,25.89,24.24,25.96,10.30,50.51
$GC,66,-1.78,-487.5,1763,2343,3054,4095,0.0,1.7,5,74,0.00,0.98,0.00,0.000,1030,0.000,0.031,1763,1966,3054,3054,4094,0,0,0,0,0,0,25.82,25.78,25.87,10.54,50.78
$GC,113,-1.78,-487.5,1763,1965,3055,4094,2.2,-8.1,11,122,0.00,1.15,0.00,0.000,516,0.000,0.049,1763,1512,3055,3055,4094,0,0,0,0,0,0,26.17,25.78,26.19,10.55,49.52
$GC,360,-1.78,-487.5,1763,1512,3062,4094,38.7,-13.5,47,370,0.00,0.95,0.00,0.000,1030,0.000,0.026,1763,1924,3062,3062,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.48,47.87
$GC,409,-1.78,-487.5,1763,1924,3063,4095,45.0,-13.4,53,417,0.00,1.15,0.00,0.000,260,0.000,0.044,1764,2366,3063,3063,4095,0,0,0,0,0,0,26.46,26.06,26.46,10.46,47.40
$GC,475,-1.78,-487.5,1763,2367,3064,4095,53.7,-12.5,62,485,0.00,1.08,0.00,0.000,1030,0.000,0.029,1764,1932,3064,3064,4094,0,0,0,0,0,0,26.22,26.15,26.22,10.43,46.53
$GC,523,-1.78,-487.5,1763,1932,3066,4094,59.8,-12.9,68,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1933,3066,3066,4094,0,0,0,0,0,0,26.51,26.52,26.53,10.43,45.90
$STATE,540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,540,begin apogee
$GC,550,-0.45,0.0,1763,2134,3066,4094,62.5,-13.0,70,586,4.53,0.00,28.30,1.330,10244,0.054,0.000,2185,2134,2484,2484,4094,0,0,0,0,0,0,26.13,25.29,24.25,10.42,46.25
$STATE,587,end apogee,CONTROL_FINISHED_OK
$STATE,587,begin climb
$GC,592,1.78,487.5,2185,2134,2484,4094,65.8,0.0,74,637,7.50,0.00,27.70,1.294,11270,0.030,0.000,2892,2134,1923,1923,4094,0,0,0,0,0,0,25.58,25.74,23.87,10.30,44.95
$GC,677,1.78,487.5,2891,2133,1921,4094,58.5,13.7,84,686,0.00,0.00,0.28,0.004,8198,0.000,0.000,2892,2134,1921,1921,4094,0,0,0,0,0,0,25.61,25.62,25.62,10.17,44.40
$GC,726,1.78,487.5,2891,2133,1919,4094,51.6,14.1,90,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1919,1919,4094,0,0,0,0,0,0,25.81,25.83,25.82,10.16,44.40
$GC,774,1.78,487.5,2891,2133,1918,4094,44.7,14.0,96,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1918,1918,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.16,44.99
$GC,823,1.78,487.5,2892,2134,1917,4094,38.2,13.2,102,832,0.00,1.10,0.00,0.000,516,0.000,0.044,2892,1714,1917,1917,4094,0,0,0,0,0,0,26.05,25.68,26.06,10.16,45.94
$GC,910,1.78,487.5,2891,1714,1914,4094,27.1,12.3,114,919,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2132,1914,1914,4094,0,0,0,0,0,0,25.90,25.88,25.92,10.17,46.49
$GC,958,1.78,487.5,2892,2131,1913,4094,21.4,11.4,120,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1913,1913,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.19,47.83
$GC,1005,1.78,487.5,2891,2131,1911,4094,16.1,11.5,126,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1911,1911,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.21,49.13
$GC,1052,1.78,487.5,2891,2131,1910,4095,10.6,11.7,132,1062,0.00,1.08,0.00,0.000,516,0.000,0.045,2892,1717,1910,1910,4094,0,0,0,0,0,0,26.34,25.95,26.34,10.22,50.66
$STATE,1128,end climb,FINISH_DEPTH_REACHED
$STATE,1129,begin subsurface finish
$FINISH1,1.8,1.024235,95
$GC,1141,0.14,95.1,2892,2140,1907,4094,1.8,11.1,143,1159,5.12,0.00,-4.00,0.000,20998,0.021,0.000,2380,2143,2381,2381,4094,0,0,0,0,0,0,26.19,25.46,26.22,10.24,50.78
$FINISH2,0.4
$STATE,1160,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1161,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,090400
$TT8_MAMPS,0.025466,0.244174
$HUMID,51.10
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,23.87,47.528
$10V_AH,10.14,46.490
$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,34.275,11.375,56.275,0.000,0.000,89.950,115.622,523.328,0.000,0.000,19.963,408.548,135.249,119.016,1337.256,343.341,0.000,358.451,0.000,356.552,0.000,0.543,0.000
$DEVICE_MAMPS,91.800,1241.595,1330.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.749,393.961,311.734,462.098,604.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,14237,145
$CAP_FILE_SIZE,35807,0
$CFSIZE,1024409600,937312256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,250817,091027,6107.071,-17352.822,5,0.8,18,7.0,0.0,98.8,10,5.0