version: 66.13
glider: 401
mission: 22
dive: 1686
start: 8 25 117 14 49 13
data:
$ID,401
$MISSION,22
$DIVE,1686
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,250817,140534,6104.7021,-17353.1562,6,0.8,19,7.0,0.0,243.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-3.6
$GPS2,250817,140534,6104.7021,-17353.1562,6,0.8,19,7.0,0.0,243.0,10,5.0
$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,154.1,39864,-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,6,begin dive
$GC,11,-1.78,-487.5,2383,1953,2377,4092,0.0,0.0,0,21,6.25,0.00,-1.27,0.000,20482,0.024,0.000,1775,1954,2516,2516,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.34,53.74
$GC,26,-1.78,-487.5,1774,1954,2516,4094,0.1,0.0,1,34,0.00,0.00,-5.03,0.000,16390,0.000,0.000,1774,1954,3057,3057,4094,0,0,0,0,0,0,26.43,24.65,26.44,10.37,53.34
$GC,73,-1.78,-487.5,1774,1954,3057,4094,0.1,-0.2,7,82,0.00,1.12,0.00,0.000,516,0.000,0.054,1775,1517,3057,3057,4094,0,0,0,0,0,0,26.41,25.99,26.43,10.48,53.89
$GC,301,-1.78,-487.5,1774,1517,3062,4094,24.8,-11.0,40,310,0.00,1.02,0.00,0.000,1030,0.000,0.025,1775,1967,3061,3061,4095,0,0,0,0,0,0,26.32,26.29,26.33,10.48,53.03
$GC,350,-1.78,-487.5,1774,1967,3062,4095,29.6,-9.7,46,359,0.00,1.02,0.00,0.000,260,0.000,0.040,1774,2368,3062,3062,4095,0,0,0,0,0,0,26.56,26.20,26.57,10.46,52.12
$GC,410,-1.78,-487.5,1774,2368,3063,4095,35.6,-9.4,54,419,0.00,1.12,0.00,0.000,1030,0.000,0.034,1774,1922,3064,3064,4095,0,0,0,0,0,0,26.28,26.25,26.30,10.44,51.10
$GC,459,-1.78,-487.5,1774,1922,3064,4095,40.0,-9.2,60,469,0.00,1.02,0.00,0.000,516,0.000,0.056,1774,1519,3066,3066,4095,0,0,0,0,0,0,26.60,26.17,26.61,10.43,50.27
$GC,553,-1.78,-487.5,1774,1519,3066,4095,49.3,-10.0,73,562,0.00,0.77,0.00,0.000,1030,0.000,0.027,1774,1892,3066,3066,4095,0,0,0,0,0,0,26.43,26.41,26.44,10.40,49.25
$GC,602,-1.78,-487.5,1774,1892,3067,4095,54.0,-9.9,79,612,0.00,1.20,0.00,0.000,260,0.000,0.039,1774,2361,3067,3067,4094,0,0,0,0,0,0,26.65,26.26,26.65,10.39,48.74
$STATE,659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,659,begin apogee
$GC,670,-0.45,0.0,1774,2121,3069,4095,60.2,-9.9,87,706,4.38,0.00,28.17,1.317,10244,0.052,0.000,2186,2121,2484,2484,4094,0,0,0,0,0,0,26.27,25.42,24.37,10.38,48.46
$STATE,707,end apogee,CONTROL_FINISHED_OK
$STATE,707,begin climb
$GC,712,1.78,487.5,2185,2121,2485,4094,63.7,0.0,91,756,7.45,0.00,27.65,1.294,11270,0.029,0.000,2892,2121,1919,1919,4094,0,0,0,0,0,0,25.68,25.86,23.94,10.27,47.87
$GC,796,1.78,488.9,2892,2121,1918,4094,58.8,10.5,101,806,0.00,1.17,0.22,0.003,8452,0.000,0.046,2892,2544,1918,1918,4094,0,0,0,0,0,0,25.65,25.33,25.65,10.13,46.45
$GC,1064,1.81,508.6,2892,2544,1912,4094,30.2,10.2,140,1074,0.00,0.90,2.95,0.353,9222,0.000,0.025,2893,2172,1889,1889,4094,0,0,0,0,0,0,26.01,25.98,24.51,10.13,48.77
$GC,1115,1.91,574.3,2892,2171,1888,4094,25.5,9.6,146,1126,0.35,1.05,5.18,0.614,10500,0.036,0.051,2936,2552,1814,1814,4094,0,0,0,0,0,0,26.03,25.68,24.67,10.14,49.52
$GC,1325,1.91,576.9,2936,2552,1808,4094,3.5,10.5,176,1334,0.00,0.90,0.00,0.000,1030,0.000,0.027,2936,2178,1808,1808,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.19,52.71
$STATE,1342,end climb,SURFACE_DEPTH_REACHED
$STATE,1342,begin surface coast
$FINISH,0.1,1.001015
$STATE,1364,end surface coast,CONTROL_FINISHED_OK
$STATE,1364,begin surface
$SM_CCo,1468,0.00,0.000,0,0,1807,582.13
$SM_GC,0.82,27.95,0.55,0.00,0.020,0.043,0.000,239,1950,1807,-6.55,1.55,582.13,0,0,0,0,0,0,26.18,26.12,26.22
$IRIDIUM_FIX,6149.06,-17422.35,250817,124716
$TT8_MAMPS,0.025466,0.249417
$HUMID,53.07
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.94,47.907
$10V_AH,10.14,46.835
$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,46.375,12.900,64.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,499.515,60.035,119.989,752.157,103.045,0.000,343.296,0.000,436.079,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,55.845,1316.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,124.820,491.731,389.227,577.289,751.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330580
$DATA_FILE_SIZE,17818,181
$CAP_FILE_SIZE,28635,0
$CFSIZE,1024409600,936624128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,151446,6104.422,-17353.854,5,0.9,23,7.0,0.6,283.7,9,5.0