version: 66.13
glider: 401
mission: 22
dive: 1678
start: 8 25 117 11 41 39
data:
$ID,401
$MISSION,22
$DIVE,1678
$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,22
$R_STBD_OVSHOOT,46
$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
$GPS1,250817,113216,6106.1060,-17351.5742,5,0.9,15,7.0,0.4,201.1,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-44.6
$GPS2,250817,114101,6106.0850,-17351.6582,6,0.9,18,7.0,0.0,276.9,11,4.8
$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,157.0,41900,-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,-487.5,229,1969,1900,4092,0.0,0.0,0,20,8.43,0.00,0.00,0.000,2049,0.090,0.000,949,1976,1900,1900,4095,0,0,0,0,0,0,26.26,28.83,28.83,10.28,51.89
$GC,25,-1.78,-487.5,948,1976,1900,4095,0.6,0.0,1,53,8.68,1.08,-10.60,0.000,19204,0.042,1.234,1762,2362,3056,3056,4095,0,0,0,0,0,0,25.92,24.29,25.95,10.28,51.85
$GC,65,-1.78,-487.5,1761,2362,3056,4095,0.1,1.1,5,75,0.00,1.08,0.00,0.000,1030,0.000,0.037,1763,1945,3056,3056,4094,0,0,0,0,0,0,25.85,25.83,25.89,10.53,51.81
$GC,113,-1.78,-487.5,1762,1944,3057,4094,3.7,-11.9,11,122,0.00,1.10,0.00,0.000,260,0.000,0.042,1762,2357,3057,3057,4095,0,0,0,0,0,0,26.22,25.85,26.23,10.53,51.14
$GC,380,-1.78,-487.5,1762,2357,3064,4095,43.8,-13.1,50,389,0.00,1.02,0.00,0.000,1030,0.000,0.030,1763,1944,3065,3065,4094,0,0,0,0,0,0,26.20,26.13,26.19,10.45,48.81
$GC,428,-1.78,-487.5,1762,1944,3066,4094,50.2,-13.5,56,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1944,3066,3066,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.43,47.91
$GC,475,-1.78,-487.5,1762,1944,3067,4095,55.8,-12.5,62,483,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1944,3068,3068,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.42,47.12
$STATE,504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,515,-0.45,0.0,1763,2128,3068,4094,60.2,-12.9,66,551,4.55,0.00,28.30,1.314,10244,0.054,0.000,2185,2129,2484,2484,4094,0,0,0,0,0,0,26.13,25.31,24.26,10.41,46.69
$STATE,552,end apogee,CONTROL_FINISHED_OK
$STATE,552,begin climb
$GC,557,1.78,487.5,2185,2128,2484,4094,63.7,0.0,70,601,7.50,0.00,27.62,1.280,11270,0.030,0.000,2892,2129,1922,1922,4094,0,0,0,0,0,0,25.58,25.75,23.88,10.29,46.10
$GC,641,1.78,487.5,2891,2128,1921,4094,56.6,13.0,80,651,0.00,0.00,1.17,0.003,8198,0.000,0.000,2892,2129,1920,1920,4094,0,0,0,0,0,0,25.62,25.61,25.60,10.16,45.11
$GC,691,1.78,487.5,2891,2128,1919,4094,49.7,13.8,86,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2128,1919,1919,4094,0,0,0,0,0,0,25.82,25.83,25.82,10.16,44.99
$GC,738,1.78,487.5,2891,2128,1918,4094,43.0,13.5,92,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1917,1917,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.15,45.39
$GC,787,1.78,487.5,2891,2128,1916,4094,36.7,12.9,98,796,0.00,1.10,0.00,0.000,516,0.000,0.043,2892,1709,1915,1915,4094,0,0,0,0,0,0,26.05,25.68,26.06,10.15,46.18
$GC,887,1.78,487.5,2891,1709,1913,4094,24.2,11.4,112,896,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2128,1913,1913,4095,0,0,0,0,0,0,25.97,25.89,25.96,10.19,47.24
$GC,935,1.78,487.5,2891,2127,1912,4095,18.8,11.3,118,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1911,1911,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.19,48.74
$GC,981,1.78,487.5,2891,2127,1911,4094,13.5,11.3,124,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1910,1910,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.21,50.51
$GC,1028,1.78,487.5,2891,2127,1909,4094,8.1,11.6,130,1037,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1709,1909,1909,4094,0,0,0,0,0,0,26.34,25.95,26.36,10.22,50.66
$STATE,1086,end climb,FINISH_DEPTH_REACHED
$STATE,1086,begin subsurface finish
$FINISH1,1.7,1.024230,95
$GC,1099,0.14,95.5,2892,2137,1907,4094,1.7,10.6,138,1118,5.10,1.17,-4.15,0.000,20996,0.020,1.247,2386,1709,2377,2377,4094,0,0,0,0,0,0,26.13,24.48,26.18,10.24,51.89
$FINISH2,0.1
$STATE,1119,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,102030
$TT8_MAMPS,0.025466,0.247919
$HUMID,52.36
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.88,47.695
$10V_AH,10.13,46.640
$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,34.250,10.225,57.100,0.000,0.000,22.440,15.032,248.702,0.000,0.000,19.390,396.428,0.407,115.079,856.107,288.283,0.000,348.960,0.000,343.378,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,1246.950,1313.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.293,380.343,301.015,446.294,583.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,14284,140
$CAP_FILE_SIZE,28679,0
$CFSIZE,1024409600,937033728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250817,114101,6106.085,-17351.658,6,0.9,18,7.0,0.0,276.9,11,4.8