version: 66.13
glider: 401
mission: 22
dive: 1688
start: 8 25 117 15 55 18
data:
$ID,401
$MISSION,22
$DIVE,1688
$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
$GPS1,250817,153432,6104.4917,-17354.2090,7,0.9,27,7.0,0.6,318.6,9,4.5
$_CALLS,7
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.8
$GPS2,250817,153432,6104.4917,-17354.2090,7,0.9,27,7.0,0.6,318.6,9,4.5
$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,152.6,39817,-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,11,-1.78,-487.5,2388,1956,2377,4092,0.0,0.0,0,22,6.28,0.00,-2.12,0.000,20482,0.024,0.000,1772,1956,2610,2610,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.35,52.44
$GC,27,-1.78,-487.5,1771,1948,2610,4094,0.1,0.0,1,37,0.00,1.17,-4.07,0.000,16644,0.000,1.251,1771,2378,3048,3048,4095,0,0,0,0,0,0,26.43,24.48,26.44,10.39,52.52
$GC,153,-1.78,-487.5,1771,2378,3052,4095,16.7,-16.1,19,161,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1947,3052,3052,4095,0,0,0,0,0,0,26.13,26.10,26.14,10.50,52.75
$GC,201,-1.78,-487.5,1771,1946,3053,4095,24.1,-15.7,25,211,0.00,1.08,0.00,0.000,516,0.000,0.050,1771,1517,3053,3053,4094,0,0,0,0,0,0,26.46,26.06,26.47,10.49,52.24
$GC,275,-1.78,-487.5,1771,1517,3055,4094,35.0,-13.7,35,285,0.00,1.00,0.00,0.000,1030,0.000,0.026,1771,1945,3055,3055,4095,0,0,0,0,0,0,26.29,26.22,26.27,10.45,51.10
$GC,323,-1.78,-487.5,1771,1945,3056,4095,41.3,-12.6,41,333,0.00,1.10,0.00,0.000,260,0.000,0.046,1771,2372,3056,3056,4095,0,0,0,0,0,0,26.53,26.13,26.54,10.43,50.31
$GC,391,-1.78,-487.5,1771,2372,3058,4095,49.9,-12.8,50,400,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1940,3058,3058,4094,0,0,0,0,0,0,26.25,26.22,26.28,10.41,49.40
$GC,440,-1.78,-487.5,1771,1939,3059,4094,56.2,-13.5,56,450,0.00,1.05,0.00,0.000,516,0.000,0.052,1771,1523,3060,3060,4095,0,0,0,0,0,0,26.57,26.15,26.58,10.39,48.66
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,476,-0.45,0.0,1771,2137,3060,4094,60.1,-13.1,59,512,4.45,0.00,27.88,1.307,10244,0.054,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.19,25.37,24.34,10.38,48.18
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,517,1.78,487.5,2186,2137,2484,4094,63.6,0.0,63,563,7.50,0.00,27.62,1.274,11270,0.030,0.000,2894,2138,1919,1919,4094,0,0,0,0,0,0,25.63,25.81,23.90,10.27,47.99
$GC,603,1.78,487.5,2894,2137,1919,4094,56.5,13.1,73,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2138,1918,1918,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.15,46.18
$GC,652,1.78,487.5,2893,2137,1917,4094,49.6,13.8,79,661,0.00,1.12,0.00,0.000,516,0.000,0.044,2894,1714,1917,1917,4094,0,0,0,0,0,0,25.83,25.48,25.84,10.14,46.41
$GC,739,1.78,487.5,2894,1713,1914,4094,37.4,13.4,91,747,0.00,1.02,0.00,0.000,1030,0.000,0.029,2894,2129,1914,1914,4094,0,0,0,0,0,0,25.79,25.77,25.81,10.13,47.16
$GC,785,1.78,487.5,2893,2128,1913,4094,31.4,12.6,97,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,1912,1912,4094,0,0,0,0,0,0,26.12,26.14,26.13,10.14,47.55
$GC,833,1.91,577.0,2894,2128,1911,4094,26.4,9.2,103,843,0.32,0.00,6.32,0.684,10246,0.038,0.000,2936,2129,1811,1811,4094,0,0,0,0,0,0,25.98,25.53,24.63,10.16,47.99
$GC,883,1.97,613.7,2935,2128,1810,4094,21.7,10.0,109,893,0.10,0.00,3.78,0.448,10246,0.073,0.000,2953,2129,1767,1767,4094,0,0,0,0,0,0,25.97,25.20,24.60,10.16,49.05
$GC,934,2.04,660.4,2953,2128,1766,4094,16.7,9.8,115,945,0.10,1.20,4.20,0.467,10500,0.072,0.050,2975,2576,1712,1712,4094,0,0,0,0,0,0,26.01,25.63,24.67,10.16,50.31
$GC,1009,2.04,660.4,2974,2576,1710,4094,6.8,14.6,125,1018,0.00,1.15,0.00,0.000,1030,0.000,0.028,2975,2113,1709,1709,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.17,51.33
$STATE,1045,end climb,FINISH_DEPTH_REACHED
$STATE,1046,begin subsurface finish
$FINISH1,1.3,1.024204,97
$GC,1057,0.15,97.3,2976,2138,1708,4094,1.3,13.0,130,1076,6.03,0.00,-5.72,0.000,20998,0.023,0.000,2388,2143,2365,2365,4095,0,0,0,0,0,0,26.03,25.37,26.08,10.18,51.85
$FINISH2,0.2
$STATE,1077,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,152619
$TT8_MAMPS,0.026215,0.244174
$HUMID,52.52
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.90,47.982
$10V_AH,10.16,46.887
$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,24.775,14.075,69.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.812,0.000,111.808,551.432,93.372,0.000,331.511,0.000,322.046,0.000,0.543,0.000
$DEVICE_MAMPS,73.440,1250.775,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.680,358.610,283.805,420.945,550.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,14383,132
$CAP_FILE_SIZE,26579,0
$CFSIZE,1024409600,936542208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,153432,6104.492,-17354.209,7,0.9,27,7.0,0.6,318.6,9,4.5