version: 66.13
glider: 401
mission: 22
dive: 1760
start: 8 26 117 21 20 18
data:
$ID,401
$MISSION,22
$DIVE,1760
$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,25
$R_STBD_OVSHOOT,48
$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
$GPS1,260817,205837,6057.5762,-17353.0508,7,0.8,13,7.0,0.5,39.1,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.3
$GPS2,260817,205837,6057.5762,-17353.0508,7,0.8,13,7.0,0.5,39.1,10,4.8
$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,145.4,27667,-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,-585.0,2383,1975,2388,4092,0.0,0.0,0,20,6.38,0.00,-1.12,0.000,20482,0.024,0.000,1762,1975,2510,2510,4094,0,0,0,0,0,0,26.08,28.83,26.14,10.36,53.07
$GC,25,-1.82,-585.0,1761,1975,2510,4094,0.1,0.0,1,36,0.00,1.27,-6.05,0.000,16900,0.000,1.254,1762,1522,3172,3172,4095,0,0,0,0,0,0,26.35,24.34,26.36,10.38,52.71
$GC,195,-1.82,-585.0,1761,1522,3176,4095,20.0,-13.6,25,204,0.00,0.98,0.00,0.000,1030,0.000,0.027,1761,1941,3176,3176,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.53,52.32
$GC,242,-1.82,-585.0,1761,1941,3177,4094,26.5,-11.3,31,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1942,3177,3177,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.50,52.08
$GC,289,-1.82,-585.0,1761,1942,3178,4094,31.7,-10.9,37,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1943,3178,3178,4095,0,0,0,0,0,0,26.48,26.51,26.51,10.48,51.61
$GC,336,-1.82,-585.0,1761,1944,3179,4095,36.8,-11.2,43,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1944,3179,3179,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.46,50.63
$GC,383,-1.82,-585.0,1761,1944,3180,4094,41.8,-10.9,49,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1944,3180,3180,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.44,49.48
$GC,430,-1.82,-585.0,1761,1944,3180,4095,47.0,-10.9,55,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1944,3181,3181,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.43,49.09
$GC,476,-1.82,-585.0,1761,1943,3182,4095,51.8,-10.5,61,485,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1944,3182,3182,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.43,48.34
$GC,524,-1.82,-585.0,1761,1944,3183,4094,56.9,-10.6,67,532,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1944,3183,3183,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.41,47.99
$STATE,553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,553,begin apogee
$GC,564,-0.45,0.0,1761,2144,3183,4095,60.5,-10.6,71,608,4.53,0.00,33.35,1.306,10244,0.050,0.000,2185,2144,2485,2485,4094,0,0,0,0,0,0,26.20,24.96,24.22,10.41,48.18
$STATE,609,end apogee,CONTROL_FINISHED_OK
$STATE,609,begin climb
$GC,614,1.82,585.0,2184,2144,2485,4094,63.4,0.0,76,658,7.65,0.00,33.30,1.279,11270,0.029,0.000,2904,2144,1802,1802,4095,0,0,0,0,0,0,25.53,25.71,23.81,10.26,47.36
$GC,699,1.82,585.0,2904,2144,1801,4095,57.2,11.3,86,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2144,1801,1801,4094,0,0,0,0,0,0,25.51,25.53,25.53,10.11,46.61
$GC,748,1.82,585.0,2904,2144,1800,4094,51.4,11.8,92,757,0.00,1.15,0.00,0.000,516,0.000,0.045,2905,1714,1800,1800,4094,0,0,0,0,0,0,25.73,25.38,25.75,10.11,47.08
$GC,895,1.82,585.0,2904,1713,1795,4094,34.3,11.2,113,905,0.00,1.02,0.00,0.000,1030,0.000,0.028,2905,2132,1795,1795,4094,0,0,0,0,0,0,25.86,25.79,25.86,10.10,48.26
$GC,945,1.82,585.0,2904,2132,1795,4094,28.7,11.5,119,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1794,1794,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.10,48.30
$GC,993,1.82,585.0,2904,2132,1793,4094,23.4,10.6,125,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1793,1793,4094,0,0,0,0,0,0,26.22,26.25,26.24,10.11,48.42
$GC,1043,2.01,714.9,2904,2132,1792,4094,18.7,8.9,131,1061,0.57,0.00,8.07,0.672,10246,0.030,0.000,2972,2133,1650,1650,4094,0,0,0,0,0,0,26.03,25.31,24.75,10.15,49.33
$GC,1101,2.01,714.9,2972,2132,1649,4094,12.8,10.7,138,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2132,1648,1648,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.13,50.74
$GC,1150,2.01,714.9,2972,2132,1647,4094,7.5,10.8,144,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2133,1647,1647,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.15,51.45
$GC,1198,2.01,714.9,2971,2133,1646,4094,2.3,10.7,150,1208,0.00,1.12,0.00,0.000,516,0.000,0.044,2972,1706,1645,1645,4094,0,0,0,0,0,0,26.33,25.93,26.34,10.16,51.92
$STATE,1216,end climb,FINISH_DEPTH_REACHED
$STATE,1216,begin subsurface finish
$FINISH1,0.1,1.001002,0
$GC,1229,0.00,0.0,2972,2168,1645,4094,0.1,10.1,152,1248,6.45,1.30,-7.55,0.000,20996,0.023,1.259,2337,1711,2491,2491,4094,0,0,0,0,0,0,26.12,24.30,26.16,10.17,52.48
$FINISH2,0.1
$STATE,1249,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1249,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,204953
$TT8_MAMPS,0.025466,0.256158
$HUMID,52.63
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.81,50.261
$10V_AH,10.15,48.601
$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,25.575,8.975,74.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,426.251,0.000,130.695,642.322,113.134,0.000,383.022,0.000,373.157,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1259.190,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.630,418.378,331.037,490.666,640.453,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330628
$DATA_FILE_SIZE,14271,154
$CAP_FILE_SIZE,27541,0
$CFSIZE,1024409600,933003264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260817,205837,6057.576,-17353.051,7,0.8,13,7.0,0.5,39.1,10,4.8