version: 66.13
glider: 401
mission: 22
dive: 1739
start: 8 26 117 12 44 36
data:
$ID,401
$MISSION,22
$DIVE,1739
$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,27
$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
$GPS1,260817,122345,6059.8516,-17352.0371,6,0.8,14,7.0,0.0,236.8,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.5
$GPS2,260817,122345,6059.8516,-17352.0371,6,0.8,14,7.0,0.0,236.8,10,4.8
$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,150.5,31098,-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,-585.0,2378,1944,2392,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.024,0.000,1827,1945,2391,2391,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.33,52.79
$GC,23,-1.82,-585.0,1826,1944,2391,4094,0.1,0.0,1,37,0.45,1.25,-7.20,0.000,20740,0.033,1.243,1773,2378,3170,3170,4094,0,0,0,0,0,0,26.10,24.34,26.12,10.33,52.16
$GC,101,-1.82,-585.0,1772,2377,3173,4094,9.2,-16.4,13,107,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1949,3173,3173,4094,0,0,0,0,0,0,26.04,26.01,26.08,10.51,51.96
$GC,142,-1.82,-585.0,1772,1949,3173,4094,15.9,-16.4,19,148,0.00,1.08,0.00,0.000,516,0.000,0.051,1773,1525,3174,3174,4095,0,0,0,0,0,0,26.37,25.96,26.39,10.50,52.63
$GC,224,-1.82,-585.0,1772,1525,3176,4095,28.0,-13.2,32,231,0.00,0.98,0.00,0.000,1030,0.000,0.027,1774,1944,3175,3175,4094,0,0,0,0,0,0,26.18,26.15,26.20,10.47,51.37
$GC,265,-1.82,-585.0,1772,1944,3177,4094,32.9,-12.0,38,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1944,3177,3177,4094,0,0,0,0,0,0,26.46,26.46,26.47,10.45,50.74
$GC,305,-1.82,-585.0,1772,1944,3178,4094,38.0,-12.3,44,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1944,3178,3178,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.43,50.51
$GC,345,-1.82,-585.0,1772,1944,3179,4095,42.9,-12.3,50,351,0.00,1.10,0.00,0.000,260,0.000,0.046,1773,2364,3179,3179,4095,0,0,0,0,0,0,26.50,26.09,26.51,10.42,49.92
$GC,427,-1.82,-585.0,1772,2364,3181,4095,53.3,-12.7,63,434,0.00,1.02,0.00,0.000,1030,0.000,0.031,1773,1954,3181,3181,4094,0,0,0,0,0,0,26.24,26.20,26.27,10.40,48.93
$GC,468,-1.82,-585.0,1772,1953,3182,4094,58.6,-12.7,69,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1953,3182,3182,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.40,49.44
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,489,-0.45,0.0,1773,2135,3182,4095,60.6,-13.3,71,531,4.43,0.00,33.42,1.326,10244,0.050,0.000,2186,2135,2484,2484,4094,0,0,0,0,0,0,26.17,25.20,24.17,10.39,48.46
$STATE,532,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,537,1.82,585.0,2186,2135,2484,4094,63.8,0.0,78,585,7.68,0.00,33.10,1.288,11270,0.030,0.000,2905,2135,1803,1803,4094,0,0,0,0,0,0,25.48,25.65,23.77,10.25,47.67
$GC,619,1.82,585.0,2904,2135,1801,4094,56.9,12.6,91,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2135,1801,1801,4094,0,0,0,0,0,0,25.46,25.48,25.47,10.10,46.85
$GC,659,1.82,585.0,2904,2135,1800,4094,51.4,14.0,97,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2135,1800,1800,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.09,46.92
$GC,699,1.82,585.0,2904,2135,1799,4094,45.9,13.9,103,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2135,1799,1799,4094,0,0,0,0,0,0,25.80,25.82,25.81,10.09,46.96
$GC,739,1.82,585.0,2904,2135,1798,4094,40.5,13.4,109,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2135,1798,1798,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.08,47.00
$GC,779,1.82,585.0,2904,2135,1796,4094,35.0,13.6,115,785,0.00,1.12,0.00,0.000,516,0.000,0.045,2905,1713,1796,1796,4095,0,0,0,0,0,0,26.00,25.63,26.01,10.08,47.48
$GC,879,1.82,585.0,2904,1713,1793,4095,21.8,12.3,131,886,0.00,1.02,0.00,0.000,1030,0.000,0.030,2905,2130,1793,1793,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.10,49.05
$GC,920,1.82,585.0,2904,2130,1792,4094,17.0,11.9,137,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2130,1792,1792,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,50.00
$GC,960,1.82,585.0,2904,2130,1791,4094,12.6,11.2,143,967,0.00,1.12,0.00,0.000,516,0.000,0.047,2905,1706,1790,1790,4094,0,0,0,0,0,0,26.25,25.86,26.27,10.15,51.45
$STATE,1056,end climb,FINISH_DEPTH_REACHED
$STATE,1056,begin subsurface finish
$FINISH1,1.6,1.024397,84
$GC,1069,0.13,83.8,2904,2137,1788,4094,1.6,11.3,159,1083,5.35,0.00,-5.43,0.000,20486,0.024,0.000,2380,2137,2393,2393,4095,0,0,0,0,0,0,26.08,24.51,26.13,10.17,52.99
$FINISH2,0.1
$STATE,1083,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1084,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,121431
$TT8_MAMPS,0.025466,0.109354
$HUMID,53.30
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.77,49.580
$10V_AH,10.37,48.092
$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,23.500,11.825,66.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,417.063,251.920,145.656,234.003,96.628,0.000,319.902,0.000,242.610,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1243.125,1325.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330588
$DATA_FILE_SIZE,10904,161
$CAP_FILE_SIZE,27241,0
$CFSIZE,1024409600,934035456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260817,122345,6059.852,-17352.037,6,0.8,14,7.0,0.0,236.8,10,4.8