version: 66.13
glider: 401
mission: 22
dive: 1679
start: 8 25 117 12 2 14
data:
$ID,401
$MISSION,22
$DIVE,1679
$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,65
$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
$GPS1,250817,114101,6106.0850,-17351.6582,6,0.9,18,7.0,0.0,276.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-5.8
$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,-487.5,2386,2003,2377,4092,0.0,0.0,0,17,5.70,0.00,0.00,0.000,4097,0.024,0.000,1828,2004,2376,2376,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.35,51.85
$GC,22,-1.78,-487.5,1828,2004,2376,4094,0.1,0.0,1,36,0.35,0.93,-6.20,0.000,20740,0.043,1.244,1788,2337,3056,3056,4095,0,0,0,0,0,0,26.08,24.41,26.10,10.35,51.81
$GC,270,-1.78,-487.5,1787,2337,3062,4095,33.6,-12.7,41,276,0.00,0.98,0.00,0.000,1030,0.000,0.031,1788,1952,3062,3062,4095,0,0,0,0,0,0,26.18,26.15,26.21,10.46,51.14
$GC,310,-1.78,-487.5,1787,1951,3063,4095,38.7,-12.7,47,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.44,50.86
$GC,350,-1.78,-487.5,1787,1951,3064,4095,43.5,-12.2,53,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1952,3064,3064,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.43,49.68
$GC,390,-1.78,-487.5,1787,1951,3065,4095,48.2,-11.6,59,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3065,3065,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.42,49.21
$GC,430,-1.78,-487.5,1787,1952,3066,4094,52.9,-11.7,65,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3066,3066,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.40,49.05
$GC,469,-1.78,-487.5,1787,1951,3067,4094,57.7,-11.8,71,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3067,3067,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.39,48.26
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,497,-0.45,0.0,1787,2110,3067,4094,60.4,-12.5,74,533,4.25,0.00,28.02,1.308,10244,0.053,0.000,2185,2110,2484,2484,4094,0,0,0,0,0,0,26.17,25.35,24.33,10.39,48.30
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,539,1.78,487.5,2184,2110,2484,4094,62.9,0.0,80,581,7.47,0.00,27.67,1.268,11270,0.030,0.000,2893,2110,1915,1915,4094,0,0,0,0,0,0,25.62,25.79,23.92,10.27,47.99
$GC,615,1.78,487.5,2892,2110,1914,4094,56.3,12.7,92,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2110,1913,1913,4095,0,0,0,0,0,0,25.58,25.60,25.60,10.14,46.25
$GC,655,1.78,487.5,2892,2109,1913,4095,50.6,14.0,98,661,0.00,1.08,0.00,0.000,516,0.000,0.045,2893,1711,1913,1913,4094,0,0,0,0,0,0,25.76,25.42,25.77,10.14,46.33
$GC,702,1.78,487.5,2892,1710,1911,4094,44.1,13.8,105,708,0.00,1.02,0.00,0.000,1030,0.000,0.030,2893,2124,1912,1912,4094,0,0,0,0,0,0,25.65,25.63,25.68,10.12,46.85
$GC,742,1.78,487.5,2892,2124,1910,4094,38.5,14.3,111,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2124,1910,1910,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.13,47.40
$GC,782,1.78,487.5,2892,2123,1909,4094,33.2,13.4,117,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2123,1908,1908,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.12,47.48
$GC,822,1.78,487.5,2892,2124,1908,4094,28.2,12.6,123,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2124,1907,1907,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.14,47.71
$GC,861,1.78,487.5,2893,2124,1906,4094,23.4,11.5,129,868,0.00,1.10,0.00,0.000,516,0.000,0.046,2893,1709,1906,1906,4094,0,0,0,0,0,0,26.20,25.81,26.20,10.17,48.30
$GC,980,1.78,487.5,2892,1709,1903,4094,10.1,11.2,148,986,0.00,1.02,0.00,0.000,1030,0.000,0.030,2893,2130,1903,1903,4094,0,0,0,0,0,0,26.05,26.01,26.08,10.20,52.28
$GC,1020,1.78,487.5,2892,2130,1902,4094,5.3,12.2,154,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2130,1901,1901,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.21,52.28
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1050,begin subsurface finish
$FINISH1,1.6,1.024224,96
$GC,1061,0.14,95.9,2893,2129,1901,4094,1.6,11.0,159,1075,5.38,1.17,-4.20,0.000,20996,0.049,1.251,2384,1711,2378,2378,4094,0,0,0,0,0,0,26.13,24.36,26.17,10.22,52.83
$FINISH2,0.2
$STATE,1076,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,102030
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.87
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.92,47.716
$10V_AH,10.39,46.650
$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,23.150,8.275,55.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,417.305,259.807,132.947,233.853,93.798,0.000,303.459,0.000,242.788,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1250.775,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330616
$DATA_FILE_SIZE,10799,161
$CAP_FILE_SIZE,25611,0
$CFSIZE,1024409600,936984576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,114101,6106.085,-17351.658,6,0.9,18,7.0,0.0,276.9,11,4.8