version: 66.13
glider: 401
mission: 22
dive: 1741
start: 8 26 117 13 35 46
data:
$ID,401
$MISSION,22
$DIVE,1741
$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,27
$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
$GPS1,260817,132531,6059.0176,-17352.2148,5,0.8,24,7.0,0.5,230.7,10,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-40.2
$GPS2,260817,133508,6058.9712,-17352.3750,6,1.0,15,7.0,0.0,250.2,9,4.9
$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,148.7,29723,-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,-585.0,231,1947,1778,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,2049,0.103,0.000,699,1947,1778,1778,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.23,51.92
$GC,23,-1.82,-585.0,698,1947,1778,4094,0.9,0.0,1,54,11.52,1.20,-13.00,0.000,18948,0.054,1.255,1752,1518,3171,3171,4095,0,0,0,0,0,0,25.89,24.12,25.96,10.23,51.73
$GC,240,-1.82,-585.0,1751,1518,3177,4095,28.6,-14.0,36,247,0.00,1.02,0.00,0.000,1030,0.000,0.027,1752,1953,3177,3177,4095,0,0,0,0,0,0,26.10,26.08,26.13,10.49,50.82
$GC,281,-1.82,-585.0,1751,1953,3178,4095,34.0,-13.6,42,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1953,3178,3178,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.48,50.43
$GC,321,-1.82,-585.0,1751,1953,3179,4095,39.5,-13.3,48,328,0.00,1.10,0.00,0.000,260,0.000,0.046,1752,2372,3179,3179,4095,0,0,0,0,0,0,26.41,26.01,26.43,10.46,49.37
$GC,398,-1.82,-585.0,1751,2372,3181,4095,49.5,-13.1,60,404,0.00,1.05,0.00,0.000,1030,0.000,0.029,1752,1951,3180,3180,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.43,48.30
$GC,438,-1.82,-585.0,1751,1950,3181,4094,54.9,-13.2,66,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1951,3183,3183,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.42,48.42
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,485,-0.45,0.0,1752,2140,3183,4095,60.2,-13.2,72,527,4.65,0.00,33.47,1.323,10244,0.052,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.10,25.14,24.10,10.41,47.79
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,532,1.82,585.0,2185,2140,2484,4094,63.2,0.0,79,580,7.65,0.00,33.25,1.283,11270,0.030,0.000,2901,2140,1802,1802,4094,0,0,0,0,0,0,25.46,25.60,23.72,10.27,46.49
$GC,614,1.82,585.0,2901,2140,1800,4094,55.8,13.2,92,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2140,1800,1800,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.12,46.41
$GC,654,1.82,585.0,2901,2140,1799,4094,50.5,13.2,98,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2140,1799,1799,4095,0,0,0,0,0,0,25.65,25.65,25.65,10.11,45.82
$GC,694,1.82,585.0,2901,2140,1798,4095,45.1,13.8,104,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2140,1798,1798,4094,0,0,0,0,0,0,25.79,25.79,25.79,10.10,46.37
$GC,734,1.82,585.0,2901,2140,1796,4094,39.7,13.7,110,741,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1714,1796,1796,4094,0,0,0,0,0,0,25.89,25.53,25.91,10.10,46.22
$GC,823,1.82,585.0,2901,1714,1794,4094,28.3,12.7,124,829,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2130,1794,1794,4095,0,0,0,0,0,0,25.81,25.77,25.84,10.10,47.24
$GC,863,1.82,585.0,2901,2129,1793,4095,23.2,12.6,130,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1792,1792,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.12,48.89
$GC,903,1.82,585.0,2901,2129,1791,4094,18.4,11.7,136,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1791,1791,4095,0,0,0,0,0,0,26.19,26.20,26.20,10.15,49.29
$GC,943,1.82,585.0,2901,2129,1790,4095,13.9,11.2,142,950,0.00,1.10,0.00,0.000,516,0.000,0.045,2901,1713,1790,1790,4094,0,0,0,0,0,0,26.24,25.84,26.25,10.17,50.51
$GC,1032,1.82,585.0,2901,1713,1787,4094,4.2,11.3,156,1038,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2124,1787,1787,4094,0,0,0,0,0,0,26.04,26.02,26.08,10.19,52.52
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1050,begin subsurface finish
$FINISH1,1.7,1.024399,84
$GC,1061,0.13,83.7,2901,2124,1786,4094,1.7,10.9,159,1075,5.38,0.00,-5.40,0.000,20486,0.029,0.000,2380,2125,2392,2392,4094,0,0,0,0,0,0,26.08,24.49,26.13,10.19,52.24
$FINISH2,0.2
$STATE,1076,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,122104
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.52
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.72,49.650
$10V_AH,10.24,48.141
$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,34.850,9.100,66.725,0.000,0.000,26.079,19.789,289.018,0.000,0.000,16.828,418.125,252.088,150.713,536.030,305.443,0.000,328.725,0.000,244.295,0.000,0.543,0.000
$DEVICE_MAMPS,102.510,1255.365,1322.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329312
$DATA_FILE_SIZE,10847,161
$CAP_FILE_SIZE,30187,0
$CFSIZE,1024409600,933937152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260817,133508,6058.971,-17352.375,6,1.0,15,7.0,0.0,250.2,9,4.9