version: 66.13
glider: 401
mission: 22
dive: 1696
start: 8 25 117 19 27 22
data:
$ID,401
$MISSION,22
$DIVE,1696
$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,34
$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
$GPS1,250817,191306,6104.8242,-17354.9961,8,0.9,23,7.0,0.7,30.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-37.4
$GPS2,250817,192645,6104.9189,-17354.9258,10,1.0,22,7.0,0.5,30.3,9,5.0
$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,152.1,40786,-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,-487.5,229,1946,1859,4092,0.0,0.0,0,20,8.48,0.00,0.00,0.000,2049,0.092,0.000,946,1941,1859,1859,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.28,50.63
$GC,25,-1.78,-487.5,945,1942,1859,4094,0.8,0.0,1,53,8.77,1.15,-10.93,0.000,19204,0.043,1.246,1763,1529,3055,3055,4095,0,0,0,0,0,0,25.82,24.20,25.87,10.29,50.27
$GC,312,-1.78,-487.5,1762,1529,3062,4095,37.5,-13.4,42,321,0.00,0.98,0.00,0.000,1030,0.000,0.026,1763,1948,3062,3062,4094,0,0,0,0,0,0,26.13,26.12,26.16,10.48,48.97
$GC,361,-1.78,-487.5,1762,1948,3063,4094,44.0,-13.0,48,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1948,3064,3064,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.46,48.85
$GC,410,-1.78,-487.5,1762,1948,3065,4094,50.4,-13.4,54,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3065,3065,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.45,47.99
$GC,459,-1.78,-487.5,1762,1949,3066,4095,56.7,-13.1,60,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3066,3066,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.43,46.88
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,492,-0.45,0.0,1762,2140,3067,4094,60.3,-12.7,63,529,4.55,0.00,28.10,1.298,10244,0.054,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.10,25.27,24.25,10.42,46.29
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,534,1.78,487.5,2186,2140,2484,4094,63.6,0.0,67,579,7.47,0.00,27.85,1.268,11270,0.030,0.000,2893,2140,1917,1917,4094,0,0,0,0,0,0,25.57,25.73,23.89,10.30,45.66
$GC,619,1.78,487.5,2893,2140,1916,4094,56.3,13.5,77,629,0.00,1.10,0.00,0.000,516,0.000,0.044,2893,1723,1915,1915,4094,0,0,0,0,0,0,25.61,25.30,25.62,10.17,44.44
$GC,745,1.78,487.5,2893,1723,1911,4094,38.5,13.5,95,754,0.00,0.98,0.00,0.000,1030,0.000,0.029,2894,2122,1911,1911,4094,0,0,0,0,0,0,25.76,25.70,25.79,10.16,45.58
$GC,795,1.78,487.5,2893,2121,1910,4094,32.2,12.9,101,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2121,1910,1910,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.17,46.45
$GC,842,1.78,487.5,2893,2121,1909,4094,26.3,12.1,107,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2121,1909,1909,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.19,47.16
$GC,891,1.78,487.5,2893,2121,1907,4094,20.6,11.6,113,899,0.00,1.08,0.00,0.000,516,0.000,0.044,2893,1714,1907,1907,4094,0,0,0,0,0,0,26.23,25.85,26.25,10.21,48.77
$GC,990,1.78,487.5,2892,1714,1905,4094,8.9,11.0,127,999,0.00,1.00,0.00,0.000,1030,0.000,0.028,2894,2129,1904,1904,4094,0,0,0,0,0,0,26.07,26.03,26.11,10.23,50.11
$GC,1037,1.78,487.5,2893,2128,1903,4094,3.8,11.0,133,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2129,1903,1903,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.24,50.63
$STATE,1054,end climb,FINISH_DEPTH_REACHED
$STATE,1054,begin subsurface finish
$FINISH1,1.5,1.024194,98
$GC,1065,0.15,98.0,2893,2128,1902,4094,1.5,10.7,135,1083,5.10,0.00,-4.00,0.000,20486,0.019,0.000,2390,2130,2373,2373,4094,0,0,0,0,0,0,26.13,25.47,26.17,10.24,50.74
$FINISH2,0.3
$STATE,1084,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$IRIDIUM_FIX,6144.84,-17201.19,250817,175612
$TT8_MAMPS,0.025466,0.250166
$HUMID,51.45
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.89,48.241
$10V_AH,10.12,47.091
$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,34.375,6.725,55.950,0.000,0.000,25.224,18.710,534.570,0.000,0.000,23.978,389.258,1.003,107.120,973.443,443.147,0.000,326.735,0.000,336.066,0.000,0.543,0.000
$DEVICE_MAMPS,91.800,1246.185,1298.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.303,372.194,294.539,436.778,570.226,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330592
$DATA_FILE_SIZE,14369,137
$CAP_FILE_SIZE,27797,0
$CFSIZE,1024409600,936148992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,250817,192645,6104.919,-17354.926,10,1.0,22,7.0,0.5,30.3,9,5.0