version: 66.13
glider: 401
mission: 22
dive: 1693
start: 8 25 117 18 6 5
data:
$ID,401
$MISSION,22
$DIVE,1693
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,250817,175219,6104.4424,-17355.1602,8,0.9,46,7.0,0.5,16.7,9,4.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,2
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-36.8
$GPS2,250817,180528,6104.5400,-17355.1973,1,0.8,12,7.0,0.0,323.7,10,4.9
$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,151.5,40221,-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,-487.5,237,1965,1735,4092,0.0,0.0,0,17,5.62,0.00,0.00,0.000,2049,0.077,0.000,726,1961,1735,1735,4094,0,0,0,0,0,0,26.15,28.83,28.83,10.25,50.31
$GC,22,-1.78,-487.5,726,1966,1735,4094,0.6,0.0,1,53,11.12,1.23,-11.98,0.000,19204,0.041,1.252,1765,1514,3053,3053,4094,0,0,0,0,0,0,25.86,24.20,25.92,10.26,50.39
$GC,168,-1.78,-487.5,1764,1513,3055,4094,12.2,-11.2,24,175,0.00,1.02,0.00,0.000,1030,0.000,0.024,1765,1958,3055,3055,4095,0,0,0,0,0,0,26.01,25.99,26.03,10.54,50.00
$GC,210,-1.78,-487.5,1764,1958,3056,4095,16.7,-10.3,30,216,0.00,1.05,0.00,0.000,260,0.000,0.039,1765,2364,3056,3056,4095,0,0,0,0,0,0,26.29,25.93,26.30,10.54,49.96
$GC,322,-1.78,-487.5,1764,2364,3058,4095,28.2,-9.9,48,329,0.00,0.98,0.00,0.000,1030,0.000,0.030,1765,1971,3059,3059,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.52,49.25
$GC,363,-1.78,-487.5,1765,1971,3060,4095,32.1,-9.3,54,370,0.00,1.12,0.00,0.000,516,0.000,0.051,1765,1528,3060,3060,4094,0,0,0,0,0,0,26.41,26.01,26.43,10.51,49.25
$GC,440,-1.78,-487.5,1764,1528,3061,4094,39.5,-9.6,66,447,0.00,1.12,0.00,0.000,1030,0.000,0.024,1765,2016,3062,3062,4094,0,0,0,0,0,0,26.23,26.21,26.25,10.48,48.62
$GC,481,-1.78,-487.5,1764,2017,3061,4094,43.4,-9.3,72,488,0.00,0.88,0.00,0.000,260,0.000,0.042,1765,2360,3061,3061,4095,0,0,0,0,0,0,26.48,26.13,26.50,10.46,48.07
$STATE,653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,653,begin apogee
$GC,664,-0.45,0.0,1765,2120,3065,4095,60.2,-9.5,100,700,4.47,0.00,27.90,1.294,10244,0.050,0.000,2187,2120,2484,2484,4094,0,0,0,0,0,0,26.19,25.35,24.32,10.41,46.81
$STATE,701,end apogee,CONTROL_FINISHED_OK
$STATE,701,begin climb
$GC,706,1.78,487.5,2186,2120,2484,4094,63.6,0.0,106,748,7.38,0.98,27.70,1.272,10756,0.027,0.043,2895,1732,1916,1916,4094,0,0,0,0,0,0,25.56,25.52,23.91,10.29,46.22
$GC,923,1.78,490.3,2895,1732,1911,4094,43.1,10.5,141,929,0.00,0.95,0.00,0.000,1030,0.000,0.025,2895,2141,1911,1911,4094,0,0,0,0,0,0,25.82,25.80,25.84,10.16,46.69
$GC,963,1.82,517.5,2895,2140,1911,4094,38.8,10.1,147,971,0.00,1.10,3.30,0.461,8452,0.000,0.046,2895,2554,1880,1880,4094,0,0,0,0,0,0,26.11,25.53,24.38,10.15,47.04
$GC,993,1.86,542.3,2895,2554,1880,4094,35.8,10.2,151,1002,0.17,1.15,3.20,0.427,11270,0.040,0.027,2921,2092,1852,1852,4094,0,0,0,0,0,0,25.84,25.84,24.41,10.15,47.44
$GC,1036,1.92,585.5,2921,2091,1850,4094,31.5,9.9,157,1045,0.10,0.98,4.07,0.543,10756,0.073,0.045,2939,1711,1802,1802,4094,0,0,0,0,0,0,25.96,25.58,24.51,10.14,47.99
$GC,1109,1.98,620.5,2939,1710,1800,4094,24.1,10.0,168,1117,0.05,0.73,3.62,0.443,11270,0.073,0.029,2951,2025,1760,1760,4094,0,0,0,0,0,0,25.86,25.95,24.59,10.16,48.77
$GC,1152,2.02,651.1,2950,2025,1759,4094,19.8,10.1,174,1161,0.10,1.40,3.45,0.398,10500,0.073,0.051,2974,2547,1724,1724,4094,0,0,0,0,0,0,26.03,25.64,24.63,10.17,50.03
$GC,1183,2.06,672.8,2973,2547,1724,4094,16.6,10.2,178,1191,0.00,1.42,2.97,0.303,9222,0.000,0.028,2974,1986,1699,1699,4094,0,0,0,0,0,0,25.96,25.92,24.65,10.17,51.10
$GC,1225,2.08,689.0,2973,1986,1698,4094,12.3,10.3,184,1233,0.00,0.68,2.72,0.238,8708,0.000,0.050,2974,1714,1680,1680,4095,0,0,0,0,0,0,26.26,25.65,24.68,10.17,51.92
$GC,1297,2.19,763.0,2973,1714,1678,4095,5.1,9.4,195,1311,0.45,0.47,5.50,0.472,11270,0.031,0.029,3025,1970,1593,1593,4094,0,0,0,0,0,0,26.04,26.11,24.84,10.18,52.36
$STATE,1322,end climb,FINISH_DEPTH_REACHED
$STATE,1322,begin subsurface finish
$FINISH1,1.9,1.024204,97
$GC,1334,0.15,97.3,3025,2141,1591,4094,1.9,10.8,199,1354,6.70,1.17,-6.78,0.000,20740,0.036,1.261,2387,2546,2377,2377,4094,0,0,0,0,0,0,26.03,24.35,26.06,10.18,52.36
$FINISH2,0.1
$STATE,1355,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1355,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,250817,163936
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.99
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.91,48.144
$10V_AH,10.27,47.007
$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,36.175,19.350,84.450,0.000,0.000,23.710,34.382,488.675,0.000,0.000,17.621,532.626,340.549,157.253,745.172,376.837,0.000,362.458,0.000,302.298,0.000,0.543,0.000
$DEVICE_MAMPS,77.265,1260.720,1293.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,135.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330556
$DATA_FILE_SIZE,14322,202
$CAP_FILE_SIZE,39413,0
$CFSIZE,1024409600,936280064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,180528,6104.540,-17355.197,1,0.8,12,7.0,0.0,323.7,10,4.9