version: 66.13
glider: 401
mission: 22
dive: 1744
start: 8 26 117 14 50 24
data:
$ID,401
$MISSION,22
$DIVE,1744
$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,26
$R_STBD_OVSHOOT,61
$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
$GPS1,260817,143704,6058.1758,-17352.7988,5,0.7,14,7.0,0.0,0.0,11,4.6
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-41.5
$GPS2,260817,144941,6058.1582,-17353.0820,6,0.9,16,7.0,0.0,271.6,9,4.7
$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,146.3,28639,-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,-585.0,237,1953,1784,4092,0.0,0.0,0,21,8.60,0.00,0.00,0.000,2049,0.098,0.000,954,1953,1784,1784,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.24,51.37
$GC,26,-1.82,-585.0,953,1953,1784,4094,0.8,0.0,1,54,8.62,1.20,-12.93,0.000,18948,0.046,1.252,1752,1523,3173,3173,4095,0,0,0,0,0,0,25.86,24.14,25.91,10.24,50.94
$GC,213,-1.82,-585.0,1752,1522,3177,4095,25.5,-16.0,27,223,0.00,0.95,0.00,0.000,1030,0.000,0.028,1752,1929,3178,3178,4095,0,0,0,0,0,0,26.08,26.05,26.09,10.54,50.43
$GC,261,-1.82,-585.0,1752,1929,3178,4095,32.1,-13.1,33,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1929,3179,3179,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.50,49.72
$GC,308,-1.82,-585.0,1752,1929,3180,4095,38.0,-12.9,39,318,0.00,1.15,0.00,0.000,260,0.000,0.045,1752,2367,3180,3180,4095,0,0,0,0,0,0,26.41,25.99,26.41,10.48,49.84
$GC,396,-1.82,-585.0,1752,2367,3182,4095,49.6,-12.9,51,405,0.00,1.00,0.00,0.000,1030,0.000,0.028,1752,1970,3182,3182,4095,0,0,0,0,0,0,26.18,26.15,26.19,10.45,47.67
$GC,444,-1.82,-585.0,1751,1970,3183,4095,56.2,-13.4,57,453,0.00,1.15,0.00,0.000,516,0.000,0.049,1752,1516,3183,3183,4094,0,0,0,0,0,0,26.48,26.03,26.49,10.44,46.96
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,480,-0.45,0.0,1752,2124,3184,4094,60.1,-13.9,60,524,4.68,0.00,33.72,1.333,10244,0.053,0.000,2186,2124,2484,2484,4094,0,0,0,0,0,0,26.09,25.13,24.08,10.43,46.88
$STATE,525,end apogee,CONTROL_FINISHED_OK
$STATE,525,begin climb
$GC,530,1.82,585.0,2186,2124,2484,4094,63.9,0.0,65,575,7.68,0.00,33.40,1.290,11270,0.030,0.000,2904,2124,1802,1802,4094,0,0,0,0,0,0,25.45,25.60,23.73,10.28,46.22
$GC,615,1.82,585.0,2903,2124,1801,4094,56.8,13.2,75,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1800,1800,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.12,45.27
$GC,664,1.82,585.0,2903,2124,1799,4094,50.0,14.1,81,673,0.00,1.12,0.00,0.000,516,0.000,0.044,2904,1706,1798,1798,4094,0,0,0,0,0,0,25.69,25.34,25.70,10.12,44.95
$GC,738,1.82,585.0,2903,1705,1796,4094,39.6,13.3,91,747,0.00,1.05,0.00,0.000,1030,0.000,0.028,2903,2132,1795,1795,4094,0,0,0,0,0,0,25.65,25.61,25.67,10.10,45.51
$GC,786,1.82,585.0,2903,2131,1795,4094,33.5,13.3,97,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1795,1795,4094,0,0,0,0,0,0,26.01,26.03,26.02,10.11,46.22
$GC,833,1.82,585.0,2903,2131,1794,4094,27.4,12.9,103,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1793,1793,4094,0,0,0,0,0,0,26.10,26.10,26.10,10.12,46.69
$GC,880,1.99,701.8,2903,2131,1792,4094,22.9,9.1,109,891,0.50,0.00,7.47,0.700,10246,0.031,0.000,2961,2132,1665,1665,4094,0,0,0,0,0,0,25.92,25.49,24.60,10.14,47.40
$GC,931,2.01,711.2,2961,2132,1664,4094,18.0,10.4,115,941,0.00,1.15,0.20,0.004,8452,0.000,0.047,2962,2566,1664,1664,4094,0,0,0,0,0,0,26.13,25.73,26.13,10.14,49.56
$GC,999,2.01,711.2,2961,2566,1662,4094,10.2,11.3,124,1008,0.00,1.12,0.00,0.000,1030,0.000,0.027,2962,2112,1662,1662,4094,0,0,0,0,0,0,25.96,25.94,25.98,10.17,50.51
$GC,1047,2.01,711.2,2961,2111,1661,4094,5.0,10.7,130,1057,0.00,1.00,0.15,0.003,8708,0.000,0.041,2961,1714,1661,1661,4094,0,0,0,0,0,0,26.27,25.89,26.27,10.17,50.78
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,2.0,1.024401,84
$GC,1086,0.13,83.5,2961,2148,1659,4094,2.0,10.5,133,1105,5.95,1.20,-6.50,0.000,20996,0.021,1.249,2381,1714,2390,2390,4095,0,0,0,0,0,0,26.03,24.33,26.08,10.17,51.37
$FINISH2,0.2
$STATE,1106,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,144222
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.32
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.73,49.751
$10V_AH,10.11,48.222
$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,36.025,14.825,74.950,0.000,0.000,78.876,66.277,280.896,0.000,0.000,17.968,388.651,90.048,125.355,969.362,306.734,0.000,365.013,0.000,331.163,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1251.540,1333.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.649,366.799,290.207,430.350,564.769,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,14486,135
$CAP_FILE_SIZE,32081,0
$CFSIZE,1024409600,933789696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260817,144941,6058.158,-17353.082,6,0.9,16,7.0,0.0,271.6,9,4.7