version: 66.13
glider: 401
mission: 22
dive: 1735
start: 8 26 117 11 9 8
data:
$ID,401
$MISSION,22
$DIVE,1735
$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,600
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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
$GPS1,260817,105915,6100.6953,-17352.6406,5,0.9,14,7.0,0.5,67.5,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-39.8
$GPS2,260817,110830,6100.6519,-17352.5938,9,0.9,15,7.0,0.4,177.0,10,4.6
$SPEED_LIMITS,0.226,0.425
$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,150.7,32661,-10.3,-10.526,-13.92,8308
$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,-1.82,-585.0,230,1967,1785,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.096,0.000,703,1968,1785,1785,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.23,52.12
$GC,23,-1.82,-585.0,703,1967,1785,4094,0.8,0.0,1,54,11.45,1.23,-12.82,0.000,19204,0.054,1.253,1753,1528,3170,3170,4094,0,0,0,0,0,0,25.89,24.17,25.96,10.23,51.29
$GC,288,-1.82,-585.0,1753,1527,3177,4094,35.1,-13.6,44,295,0.00,1.00,0.00,0.000,1030,0.000,0.027,1753,1953,3177,3177,4094,0,0,0,0,0,0,26.14,26.11,26.16,10.48,49.80
$GC,329,-1.82,-585.0,1752,1953,3177,4094,40.6,-13.2,50,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1953,3178,3178,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.46,49.37
$GC,369,-1.82,-585.0,1753,1953,3179,4095,45.7,-12.9,56,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1953,3179,3179,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.45,48.85
$GC,409,-1.82,-585.0,1753,1953,3180,4095,51.0,-13.3,62,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1953,3181,3181,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.44,48.42
$GC,449,-1.82,-585.0,1753,1953,3181,4095,56.4,-13.2,68,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1953,3181,3181,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.42,48.62
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,483,-0.45,0.0,1753,2142,3182,4094,60.1,-13.3,72,525,4.62,0.00,33.35,1.317,10244,0.051,0.000,2185,2143,2484,2484,4094,0,0,0,0,0,0,26.11,25.16,24.13,10.42,47.83
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,530,1.82,585.0,2185,2142,2484,4094,63.4,0.0,79,578,7.65,0.00,33.15,1.282,11270,0.029,0.000,2905,2143,1802,1802,4094,0,0,0,0,0,0,25.46,25.61,23.74,10.27,47.08
$GC,612,1.82,585.0,2904,2142,1801,4094,56.4,13.2,92,619,0.00,1.15,0.00,0.000,516,0.000,0.043,2905,1715,1801,1801,4094,0,0,0,0,0,0,25.45,25.15,25.46,10.12,45.66
$GC,707,1.82,585.0,2905,1714,1798,4094,43.9,13.2,107,713,0.00,1.02,0.00,0.000,1030,0.000,0.030,2905,2125,1797,1797,4094,0,0,0,0,0,0,25.58,25.56,25.60,10.10,46.33
$GC,748,1.82,585.0,2905,2124,1797,4094,38.5,12.9,113,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2125,1796,1796,4094,0,0,0,0,0,0,25.94,25.96,25.96,10.11,46.57
$GC,787,1.82,585.0,2904,2124,1795,4094,33.3,12.8,119,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2125,1796,1796,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.11,47.20
$GC,827,1.82,585.0,2904,2124,1794,4094,28.4,11.6,125,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2125,1794,1794,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.12,47.79
$GC,867,1.82,585.0,2904,2124,1793,4094,23.8,12.1,131,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2125,1793,1793,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.14,48.62
$GC,907,1.82,585.0,2905,2125,1792,4094,19.2,11.6,137,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2125,1792,1792,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.16,49.64
$GC,947,1.82,585.2,2904,2124,1791,4094,14.9,10.5,143,954,0.00,1.08,0.00,0.000,516,0.000,0.046,2905,1717,1790,1790,4094,0,0,0,0,0,0,26.25,25.86,26.26,10.17,50.51
$GC,1048,1.82,585.2,2904,1717,1788,4094,3.9,11.3,159,1054,0.00,1.02,0.00,0.000,1030,0.000,0.029,2905,2137,1787,1787,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.19,52.00
$STATE,1065,end climb,FINISH_DEPTH_REACHED
$STATE,1066,begin subsurface finish
$FINISH1,1.4,1.024393,84
$GC,1077,0.13,84.1,2905,2136,1787,4094,1.4,11.2,162,1090,5.35,0.00,-5.40,0.000,20486,0.023,0.000,2380,2136,2392,2392,4094,0,0,0,0,0,0,26.10,24.52,26.15,10.19,52.20
$FINISH2,0.1
$STATE,1091,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1091,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,095159
$TT8_MAMPS,0.025466,0.159537
$HUMID,53.22
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.74,49.455
$10V_AH,10.25,48.000
$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,34.675,6.950,66.500,0.000,0.000,26.258,19.377,269.914,0.000,0.000,17.067,423.119,258.883,150.518,519.836,304.302,0.000,329.969,0.000,248.357,0.000,0.543,0.000
$DEVICE_MAMPS,96.390,1253.070,1317.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10800,164
$CAP_FILE_SIZE,29979,0
$CFSIZE,1024409600,934232064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260817,110830,6100.652,-17352.594,9,0.9,15,7.0,0.4,177.0,10,4.6