version: 66.13
glider: 401
mission: 22
dive: 1683
start: 8 25 117 13 34 58
data:
$ID,401
$MISSION,22
$DIVE,1683
$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,49
$R_STBD_OVSHOOT,31
$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
$GPS1,250817,125322,6105.3672,-17352.2715,5,0.8,22,7.0,0.4,292.5,10,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-3.4
$GPS2,250817,125322,6105.3672,-17352.2715,5,0.8,22,7.0,0.4,292.5,10,5.0
$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,155.7,40786,-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,-487.5,2385,1960,2375,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,4097,0.023,0.000,1831,1962,2376,2376,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.34,52.40
$GC,23,-1.78,-487.5,1830,1962,2376,4095,0.1,0.0,1,36,0.50,1.12,-6.25,0.000,21252,0.039,1.245,1775,1542,3054,3054,4095,0,0,0,0,0,0,26.07,24.44,26.11,10.34,52.32
$GC,222,-1.78,-487.5,1775,1542,3060,4095,26.1,-14.5,33,229,0.00,0.95,0.00,0.000,1030,0.000,0.028,1775,1948,3059,3059,4095,0,0,0,0,0,0,26.19,26.15,26.20,10.48,52.00
$GC,263,-1.78,-487.5,1775,1948,3061,4095,31.6,-13.7,39,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1948,3061,3061,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.46,52.55
$GC,303,-1.78,-487.5,1775,1948,3062,4094,36.6,-12.8,45,309,0.00,1.10,0.00,0.000,260,0.000,0.045,1775,2369,3062,3062,4095,0,0,0,0,0,0,26.48,26.10,26.49,10.44,51.49
$GC,355,-1.78,-487.5,1775,2369,3063,4095,43.0,-11.9,53,362,0.00,0.98,0.00,0.000,1030,0.000,0.029,1775,1983,3063,3063,4095,0,0,0,0,0,0,26.25,26.21,26.27,10.41,50.39
$GC,396,-1.78,-487.5,1775,1983,3064,4095,48.1,-12.9,59,402,0.00,1.17,0.00,0.000,516,0.000,0.050,1775,1521,3064,3064,4095,0,0,0,0,0,0,26.52,26.11,26.53,10.41,49.76
$GC,460,-1.78,-487.5,1775,1520,3066,4095,56.7,-13.2,69,467,0.00,1.00,0.00,0.000,1030,0.000,0.026,1775,1949,3066,3066,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.39,49.01
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,495,-0.45,0.0,1775,2140,3066,4094,60.4,-13.1,73,531,4.40,0.00,27.98,1.328,10244,0.054,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.17,25.32,24.30,10.38,49.76
$STATE,532,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,536,1.78,487.5,2186,2140,2484,4094,63.3,0.0,79,579,7.38,1.12,27.65,1.284,10756,0.030,0.042,2894,1709,1916,1916,4095,0,0,0,0,0,0,25.54,25.48,23.90,10.26,48.30
$GC,619,1.78,487.5,2894,1709,1915,4095,56.1,13.2,92,626,0.00,1.08,0.00,0.000,1030,0.000,0.030,2895,2135,1915,1915,4094,0,0,0,0,0,0,25.38,25.35,25.41,10.14,46.85
$GC,660,1.78,487.5,2894,2135,1913,4094,50.5,14.4,98,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2135,1914,1914,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.13,47.36
$GC,700,1.78,487.5,2894,2135,1912,4094,45.0,13.5,104,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2135,1911,1911,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.12,47.04
$GC,740,1.78,487.5,2894,2135,1911,4094,39.7,13.8,110,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2135,1911,1911,4094,0,0,0,0,0,0,25.98,26.01,26.00,10.13,47.32
$GC,779,1.78,487.5,2894,2135,1910,4094,34.3,13.3,116,786,0.00,1.15,0.00,0.000,516,0.000,0.045,2894,1704,1910,1910,4094,0,0,0,0,0,0,26.07,25.70,26.08,10.13,47.67
$GC,886,1.78,487.5,2894,1704,1907,4094,21.0,11.8,133,892,0.00,1.05,0.00,0.000,1030,0.000,0.030,2894,2131,1907,1907,4094,0,0,0,0,0,0,25.95,25.92,25.97,10.17,50.43
$GC,926,1.78,487.5,2894,2130,1905,4094,16.2,11.4,139,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2130,1905,1905,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.18,50.98
$GC,966,2.02,649.6,2894,2130,1905,4094,12.6,8.1,145,980,0.70,0.00,9.50,0.676,10246,0.030,0.000,2973,2131,1726,1726,4094,0,0,0,0,0,0,26.06,25.62,24.81,10.19,52.24
$GC,1014,2.08,687.2,2972,2130,1725,4094,8.1,10.0,152,1022,0.00,1.12,3.80,0.379,8708,0.000,0.050,2973,1709,1682,1682,4094,0,0,0,0,0,0,26.22,25.67,24.79,10.17,51.81
$STATE,1076,end climb,SURFACE_DEPTH_REACHED
$STATE,1076,begin surface coast
$FINISH,0.1,1.000926
$STATE,1095,end surface coast,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$SM_CCo,1200,0.00,0.000,0,0,1679,692.03
$SM_GC,0.44,28.42,0.60,0.00,0.020,0.032,0.000,239,1964,1679,-6.55,-1.37,692.03,0,0,0,0,0,0,26.06,26.03,26.09
$IRIDIUM_FIX,6149.06,-17422.35,250817,113546
$TT8_MAMPS,0.025466,0.108605
$HUMID,52.79
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.90,47.824
$10V_AH,10.38,46.743
$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,47.025,13.425,68.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.317,330.195,159.064,239.034,101.491,0.000,331.354,0.000,248.480,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1245.420,1328.040,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.806,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,10843,165
$CAP_FILE_SIZE,29086,0
$CFSIZE,1024409600,936787968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,135622,6104.698,-17352.986,6,0.7,42,7.0,0.8,228.9,10,4.7