version: 66.13
glider: 401
mission: 22
dive: 1763
start: 8 26 117 22 43 24
data:
$ID,401
$MISSION,22
$DIVE,1763
$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,51
$R_STBD_OVSHOOT,59
$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
$GPS1,260817,222121,6057.5259,-17351.7422,6,0.8,14,7.0,0.0,0.0,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.1
$GPS2,260817,222121,6057.5259,-17351.7422,6,0.8,14,7.0,0.0,0.0,10,5.0
$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,147.5,27054,-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,-585.0,2347,1989,2487,4092,0.0,0.0,0,17,5.70,0.00,0.00,0.000,4097,0.024,0.000,1791,1988,2487,2487,4094,0,0,0,0,0,0,26.40,28.83,28.83,10.38,51.92
$GC,23,-1.82,-585.0,1790,1988,2487,4094,0.1,0.0,1,35,0.00,0.98,-6.40,0.000,16644,0.000,1.242,1791,2348,3168,3168,4095,0,0,0,0,0,0,26.39,24.39,26.39,10.38,51.65
$GC,187,-1.82,-585.0,1790,2347,3172,4095,19.9,-14.8,27,194,0.00,0.93,0.00,0.000,1030,0.000,0.029,1791,1980,3172,3172,4094,0,0,0,0,0,0,26.21,26.13,26.18,10.54,51.92
$GC,228,-1.82,-585.0,1790,1980,3173,4094,25.7,-11.9,33,235,0.00,1.17,0.00,0.000,516,0.000,0.050,1791,1520,3173,3173,4095,0,0,0,0,0,0,26.45,26.03,26.46,10.51,51.61
$GC,317,-1.82,-585.0,1790,1520,3175,4095,36.1,-11.5,47,323,0.00,0.90,0.00,0.000,1030,0.000,0.024,1790,1917,3175,3175,4094,0,0,0,0,0,0,26.26,26.24,26.28,10.46,50.07
$GC,358,-1.82,-585.0,1790,1918,3175,4094,40.5,-11.0,53,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1918,3175,3175,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.45,49.60
$GC,397,-1.82,-585.0,1790,1918,3176,4095,44.9,-11.1,59,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1917,3176,3176,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.43,49.52
$GC,437,-1.82,-585.0,1790,1917,3177,4095,49.4,-11.7,65,444,0.00,1.15,0.00,0.000,260,0.000,0.043,1791,2363,3177,3177,4094,0,0,0,0,0,0,26.55,26.15,26.56,10.43,48.50
$GC,508,-1.82,-585.0,1790,2362,3178,4094,57.4,-11.1,76,515,0.00,1.08,0.00,0.000,1030,0.000,0.031,1791,1930,3179,3179,4095,0,0,0,0,0,0,26.27,26.22,26.30,10.41,48.38
$STATE,532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,532,begin apogee
$GC,543,-0.45,0.0,1790,2132,3179,4095,60.6,-11.0,80,585,4.20,0.00,33.15,1.304,10244,0.049,0.000,2187,2132,2484,2484,4094,0,0,0,0,0,0,26.20,25.24,24.21,10.41,48.26
$STATE,586,end apogee,CONTROL_FINISHED_OK
$STATE,586,begin climb
$GC,591,1.82,585.0,2186,2133,2484,4094,63.3,0.0,87,638,7.60,0.00,33.25,1.272,11270,0.030,0.000,2904,2133,1801,1801,4094,0,0,0,0,0,0,25.52,25.70,23.80,10.26,47.36
$GC,673,1.82,585.0,2903,2132,1800,4094,56.0,13.0,100,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1800,1800,4094,0,0,0,0,0,0,25.49,25.51,25.50,10.11,46.45
$GC,712,1.82,585.0,2903,2132,1798,4094,50.4,14.3,106,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1798,1798,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.11,46.65
$GC,752,1.82,585.0,2903,2132,1797,4094,44.8,14.3,112,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1797,1797,4094,0,0,0,0,0,0,25.82,25.84,25.84,10.10,46.53
$GC,792,1.82,585.0,2903,2132,1796,4094,39.2,14.2,118,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1796,1796,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.10,47.44
$GC,832,1.82,585.0,2903,2132,1794,4094,33.7,13.5,124,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1794,1794,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.10,47.99
$GC,872,1.82,585.0,2903,2132,1793,4094,28.4,13.2,130,879,0.00,1.10,0.00,0.000,516,0.000,0.044,2904,1716,1793,1793,4094,0,0,0,0,0,0,26.09,25.71,26.10,10.10,47.67
$GC,1003,1.82,585.0,2903,1715,1789,4094,13.2,10.6,151,1009,0.00,1.00,0.00,0.000,1030,0.000,0.028,2904,2128,1789,1789,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.17,51.57
$GC,1044,1.82,585.0,2903,2128,1788,4094,8.7,11.5,157,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2128,1788,1788,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.18,52.20
$GC,1083,1.82,585.0,2903,2128,1787,4094,4.0,12.0,163,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2128,1786,1786,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.19,52.87
$STATE,1101,end climb,FINISH_DEPTH_REACHED
$STATE,1101,begin subsurface finish
$FINISH1,1.4,1.024361,86
$GC,1112,0.13,86.4,2903,2128,1786,4094,1.4,11.8,166,1126,5.32,0.00,-5.35,0.000,20998,0.024,0.000,2380,2127,2389,2389,4095,0,0,0,0,0,0,26.09,24.51,26.14,10.19,52.71
$FINISH2,0.1
$STATE,1127,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1127,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,221308
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.91
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.80,50.362
$10V_AH,10.39,48.666
$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,22.825,9.325,66.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,430.802,268.677,144.437,243.806,101.919,0.000,323.225,0.000,252.728,0.000,0.543,0.000
$DEVICE_MAMPS,48.960,1242.360,1304.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,10824,168
$CAP_FILE_SIZE,26951,0
$CFSIZE,1024409600,932855808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260817,222121,6057.526,-17351.742,6,0.8,14,7.0,0.0,0.0,10,5.0