version: 66.13
glider: 401
mission: 22
dive: 1736
start: 8 26 117 11 29 16
data:
$ID,401
$MISSION,22
$DIVE,1736
$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,26
$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
$GPS1,260817,110830,6100.6519,-17352.5938,9,0.9,15,7.0,0.4,177.0,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.1
$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,10,-1.82,-585.0,2379,1950,2391,4092,0.0,0.0,0,21,6.30,0.00,-2.08,0.000,20482,0.022,0.000,1759,1950,2617,2617,4094,0,0,0,0,0,0,26.19,28.83,26.24,10.33,52.44
$GC,26,-1.82,-585.0,1759,1950,2617,4094,0.1,0.0,1,35,0.00,0.00,-4.93,0.000,16390,0.000,0.000,1759,1950,3172,3172,4095,0,0,0,0,0,0,26.44,24.67,26.44,10.38,52.95
$GC,74,-1.82,-585.0,1758,1950,3173,4095,4.9,-13.7,7,82,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1950,3173,3173,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.50,52.71
$GC,121,-1.82,-585.0,1758,1950,3175,4095,13.1,-17.8,13,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1950,3175,3175,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.50,52.32
$GC,168,-1.82,-585.0,1758,1950,3176,4095,21.3,-17.1,19,177,0.00,1.05,0.00,0.000,516,0.000,0.050,1758,1530,3176,3176,4094,0,0,0,0,0,0,26.46,26.07,26.47,10.50,52.48
$GC,263,-1.82,-585.0,1758,1530,3179,4094,34.8,-13.4,32,271,0.00,1.00,0.00,0.000,1030,0.000,0.028,1758,1955,3179,3179,4095,0,0,0,0,0,0,26.25,26.25,26.27,10.46,51.37
$GC,312,-1.82,-585.0,1758,1955,3180,4095,41.2,-13.2,38,320,0.00,1.10,0.00,0.000,260,0.000,0.047,1758,2374,3180,3180,4094,0,0,0,0,0,0,26.53,26.14,26.54,10.43,50.82
$GC,393,-1.82,-585.0,1758,2375,3182,4094,51.8,-12.8,49,402,0.00,1.02,0.00,0.000,1030,0.000,0.029,1758,1968,3182,3182,4095,0,0,0,0,0,0,26.29,26.25,26.30,10.41,49.33
$GC,442,-1.82,-585.0,1758,1968,3183,4095,58.3,-12.9,55,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1968,3183,3183,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.41,48.54
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,469,-0.45,0.0,1758,2139,3183,4095,61.3,-13.1,57,514,4.57,0.00,33.55,1.330,10244,0.052,0.000,2186,2139,2484,2484,4095,0,0,0,0,0,0,26.19,25.22,24.18,10.39,48.58
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,519,1.82,585.0,2185,2138,2484,4095,64.6,0.0,62,565,7.68,0.00,33.33,1.297,11270,0.030,0.000,2904,2139,1801,1801,4094,0,0,0,0,0,0,25.51,25.68,23.78,10.26,47.75
$GC,605,1.82,585.0,2903,2138,1800,4094,57.7,12.9,72,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1800,1800,4095,0,0,0,0,0,0,25.49,25.51,25.50,10.10,46.33
$GC,654,1.82,585.0,2903,2139,1799,4095,51.0,13.6,78,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1798,1798,4094,0,0,0,0,0,0,25.72,25.73,25.73,10.09,47.08
$GC,703,1.82,585.0,2903,2138,1797,4094,44.5,13.3,84,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1797,1797,4095,0,0,0,0,0,0,25.86,25.88,25.88,10.09,47.04
$GC,751,1.82,585.0,2904,2138,1795,4095,38.2,13.0,90,761,0.00,1.15,0.00,0.000,516,0.000,0.045,2904,1708,1796,1796,4094,0,0,0,0,0,0,25.98,25.58,25.99,10.09,47.12
$GC,866,1.83,593.1,2904,1708,1792,4094,24.6,10.4,106,876,0.00,1.02,0.00,0.000,1030,0.000,0.028,2904,2127,1792,1792,4094,0,0,0,0,0,0,25.89,25.86,25.93,10.12,49.01
$GC,916,1.83,593.1,2903,2126,1791,4094,19.1,11.2,112,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2126,1791,1791,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.14,50.15
$GC,964,1.83,593.1,2904,2126,1789,4095,13.8,10.7,118,974,0.00,1.10,0.00,0.000,516,0.000,0.046,2904,1710,1789,1789,4094,0,0,0,0,0,0,26.28,25.91,26.29,10.15,51.29
$GC,1064,1.83,593.1,2904,1710,1786,4094,2.6,11.2,132,1074,0.00,1.02,0.00,0.000,1030,0.000,0.029,2904,2131,1786,1786,4094,0,0,0,0,0,0,26.08,26.03,26.11,10.18,52.12
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1081,begin subsurface finish
$FINISH1,0.1,1.024393,84
$GC,1093,0.13,84.1,2904,2131,1786,4094,0.1,11.0,134,1111,5.32,0.00,-5.43,0.000,20486,0.022,0.000,2380,2131,2389,2389,4094,0,0,0,0,0,0,26.11,25.44,26.16,10.18,52.48
$FINISH2,0.2
$STATE,1112,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1112,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,095159
$TT8_MAMPS,0.026215,0.25466
$HUMID,52.63
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.78,49.480
$10V_AH,10.14,48.031
$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,23.875,9.375,66.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.385,0.000,117.551,569.289,99.828,0.000,348.122,0.000,332.167,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,49.725,1330.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.534,369.524,292.336,433.651,567.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,14177,136
$CAP_FILE_SIZE,25139,0
$CFSIZE,1024409600,934182912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260817,110830,6100.652,-17352.594,9,0.9,15,7.0,0.4,177.0,10,4.6