version: 66.13
glider: 401
mission: 22
dive: 1697
start: 8 25 117 19 47 22
data:
$ID,401
$MISSION,22
$DIVE,1697
$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,50
$R_STBD_OVSHOOT,24
$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
$GPS1,250817,192645,6104.9189,-17354.9258,10,1.0,22,7.0,0.5,30.3,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.9
$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,-487.5,2389,1931,2373,4092,0.0,0.0,0,18,5.78,0.00,0.00,0.000,4097,0.024,0.000,1822,1932,2373,2373,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.36,51.22
$GC,23,-1.78,-487.5,1821,1926,2373,4094,0.1,0.0,1,36,0.28,1.27,-6.25,0.000,20740,0.048,1.245,1789,2380,3054,3054,4094,0,0,0,0,0,0,26.08,24.44,26.10,10.36,51.06
$GC,252,-1.78,-487.5,1788,2379,3060,4094,30.4,-11.2,38,259,0.00,1.02,0.00,0.000,1030,0.000,0.031,1789,1967,3060,3060,4095,0,0,0,0,0,0,26.15,26.12,26.18,10.48,51.37
$GC,293,-1.78,-487.5,1788,1967,3061,4095,34.0,-8.9,44,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1968,3061,3061,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,51.14
$GC,333,-1.78,-487.5,1789,1967,3061,4095,37.8,-9.5,50,340,0.00,1.10,0.00,0.000,260,0.000,0.040,1789,2384,3062,3062,4095,0,0,0,0,0,0,26.49,26.11,26.51,10.46,50.03
$STATE,570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,570,begin apogee
$GC,580,-0.45,0.0,1789,2124,3065,4095,60.1,-8.9,89,616,4.18,0.00,27.90,1.307,10244,0.044,0.000,2187,2122,2484,2484,4094,0,0,0,0,0,0,26.25,25.38,24.34,10.39,48.54
$STATE,617,end apogee,CONTROL_FINISHED_OK
$STATE,618,begin climb
$GC,622,1.78,487.5,2187,2122,2484,4094,63.5,0.0,95,664,7.32,1.02,27.85,1.281,10756,0.026,0.044,2894,1723,1915,1915,4095,0,0,0,0,0,0,25.58,25.53,23.93,10.28,47.44
$GC,754,1.79,492.3,2893,1723,1914,4095,52.9,10.5,116,762,0.00,1.02,2.12,0.097,9222,0.000,0.028,2894,2139,1910,1910,4094,0,0,0,0,0,0,25.59,25.56,24.10,10.14,47.32
$GC,796,1.81,511.4,2894,2139,1909,4094,48.6,10.2,122,803,0.00,0.00,2.90,0.396,8198,0.000,0.000,2894,2138,1887,1887,4095,0,0,0,0,0,0,25.94,25.29,24.18,10.14,47.24
$GC,838,1.85,534.8,2894,2139,1887,4095,44.3,10.2,128,846,0.12,1.08,3.12,0.441,10756,0.070,0.044,2914,1730,1861,1861,4094,0,0,0,0,0,0,25.78,25.44,24.26,10.13,47.79
$GC,962,1.86,544.2,2913,1730,1858,4094,31.6,10.4,147,970,0.00,0.93,2.35,0.176,9222,0.000,0.026,2914,2119,1848,1848,4094,0,0,0,0,0,0,25.95,25.91,24.39,10.13,48.34
$GC,1004,1.90,566.3,2913,2118,1847,4094,26.9,10.2,153,1012,0.10,0.00,3.00,0.349,10246,0.073,0.000,2933,2119,1823,1823,4094,0,0,0,0,0,0,26.04,25.53,24.52,10.14,49.64
$GC,1046,1.92,581.5,2932,2119,1822,4094,22.6,10.3,159,1053,0.00,0.00,2.65,0.252,8198,0.000,0.000,2933,2118,1805,1805,4094,0,0,0,0,0,0,26.26,25.55,24.57,10.15,49.68
$GC,1087,1.92,582.5,2933,2118,1804,4094,18.4,10.5,165,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2119,1803,1803,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.16,50.19
$GC,1127,1.94,596.8,2932,2118,1803,4094,14.2,10.3,171,1134,0.00,0.00,2.60,0.216,8198,0.000,0.000,2933,2119,1787,1787,4094,0,0,0,0,0,0,26.32,25.59,24.66,10.18,51.37
$GC,1168,1.94,596.8,2933,2118,1786,4094,9.7,10.9,177,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2119,1785,1785,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.18,52.00
$GC,1207,1.94,596.8,2933,2118,1785,4095,5.4,10.7,183,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2119,1785,1785,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.19,53.30
$STATE,1237,end climb,FINISH_DEPTH_REACHED
$STATE,1237,begin subsurface finish
$FINISH1,1.9,1.024163,100
$GC,1248,0.15,100.1,2933,2118,1784,4094,1.9,10.4,188,1262,5.85,0.00,-5.07,0.000,20998,0.056,0.000,2394,2120,2374,2374,4094,0,0,0,0,0,0,26.03,24.63,26.08,10.19,53.46
$FINISH2,0.2
$STATE,1263,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1263,begin surface
$IRIDIUM_FIX,6144.84,-17201.19,250817,175612
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.15
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.93,48.263
$10V_AH,10.39,47.103
$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,23.625,8.500,74.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,493.328,328.655,127.894,274.723,99.080,0.000,311.029,0.000,283.749,0.000,0.543,0.000
$DEVICE_MAMPS,72.675,1244.655,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,128.344,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,14272,190
$CAP_FILE_SIZE,28660,0
$CFSIZE,1024409600,936099840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,192645,6104.919,-17354.926,10,1.0,22,7.0,0.5,30.3,9,5.0