version: 66.13
glider: 401
mission: 22
dive: 1765
start: 8 26 117 23 35 4
data:
$ID,401
$MISSION,22
$DIVE,1765
$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,21
$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
$GPS1,260817,232444,6057.0239,-17350.5938,5,0.8,13,7.0,0.0,0.0,11,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-40.4
$GPS2,260817,233426,6057.0327,-17350.5332,6,0.8,14,7.0,0.0,0.0,11,5.0
$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,148.8,25765,-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,-585.0,239,1947,1786,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,2049,0.099,0.000,707,1947,1787,1787,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.26,51.18
$GC,23,-1.82,-585.0,706,1946,1786,4094,0.7,0.0,1,54,11.27,1.20,-12.85,0.000,18948,0.047,1.252,1753,1517,3171,3171,4095,0,0,0,0,0,0,25.89,24.10,25.96,10.26,51.14
$GC,174,-1.82,-585.0,1752,1517,3175,4095,16.0,-17.4,25,180,0.00,1.05,0.00,0.000,1030,0.000,0.026,1753,1956,3175,3175,4095,0,0,0,0,0,0,26.04,26.02,26.08,10.57,50.78
$GC,214,-1.82,-585.0,1752,1956,3176,4095,23.0,-17.0,31,221,0.00,1.10,0.00,0.000,260,0.000,0.047,1753,2371,3176,3176,4095,0,0,0,0,0,0,26.33,25.92,26.34,10.56,50.43
$GC,291,-1.82,-585.0,1752,2372,3178,4095,33.7,-12.6,43,298,0.00,1.02,0.00,0.000,1030,0.000,0.028,1753,1964,3179,3179,4094,0,0,0,0,0,0,26.12,26.08,26.14,10.50,49.76
$GC,332,-1.82,-585.0,1752,1964,3179,4094,39.0,-12.6,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1964,3179,3179,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.47,48.42
$GC,372,-1.82,-585.0,1752,1964,3179,4095,43.7,-11.6,55,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1965,3180,3180,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.46,47.87
$GC,412,-1.82,-585.0,1752,1964,3180,4095,48.7,-12.1,61,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1965,3180,3180,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.45,47.16
$GC,452,-1.82,-585.0,1752,1964,3182,4095,53.8,-12.8,67,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1965,3182,3182,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.44,46.88
$GC,492,-1.82,-585.0,1752,1964,3183,4094,58.8,-12.3,73,498,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1964,3183,3183,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.44,46.96
$STATE,502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,502,begin apogee
$GC,513,-0.45,0.0,1752,2145,3182,4094,60.7,-12.8,75,555,4.62,0.00,33.38,1.320,10244,0.051,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.11,25.16,24.12,10.43,46.49
$STATE,556,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,561,1.82,585.0,2185,2145,2484,4094,63.7,0.0,82,608,7.62,0.00,33.22,1.278,11270,0.029,0.000,2904,2145,1802,1802,4094,0,0,0,0,0,0,25.46,25.63,23.75,10.29,45.94
$GC,642,1.82,585.0,2903,2145,1801,4094,56.3,13.3,95,649,0.00,1.17,0.00,0.000,516,0.000,0.042,2904,1711,1801,1801,4094,0,0,0,0,0,0,25.46,25.17,25.47,10.13,45.82
$GC,731,1.82,585.0,2903,1710,1798,4094,44.0,14.1,109,738,0.00,1.02,0.00,0.000,1030,0.000,0.029,2904,2123,1797,1797,4095,0,0,0,0,0,0,25.58,25.54,25.60,10.12,46.65
$GC,772,1.82,585.0,2904,2123,1796,4095,38.2,13.8,115,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2123,1796,1796,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.12,46.57
$GC,812,1.82,585.0,2904,2123,1795,4094,32.8,13.8,121,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2124,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.11,46.33
$GC,852,1.82,585.0,2904,2123,1794,4094,27.5,13.7,127,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2123,1794,1794,4094,0,0,0,0,0,0,26.09,26.11,26.10,10.11,47.20
$GC,892,1.82,585.0,2903,2123,1792,4094,22.3,12.7,133,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2124,1792,1792,4095,0,0,0,0,0,0,26.15,26.17,26.16,10.12,47.95
$GC,932,1.92,652.2,2903,2123,1791,4095,18.3,9.7,139,946,0.25,1.08,4.88,0.534,10756,0.041,0.045,2938,1712,1722,1722,4094,0,0,0,0,0,0,25.98,25.60,24.63,10.16,48.62
$GC,1016,1.92,652.2,2937,1711,1720,4094,8.9,11.7,152,1022,0.00,1.02,0.00,0.000,1030,0.000,0.029,2938,2131,1720,1720,4094,0,0,0,0,0,0,25.98,25.94,26.01,10.18,51.53
$GC,1056,1.92,652.2,2937,2131,1719,4094,4.0,12.3,158,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2132,1719,1719,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.18,51.77
$STATE,1074,end climb,FINISH_DEPTH_REACHED
$STATE,1074,begin subsurface finish
$FINISH1,1.2,1.024341,88
$GC,1085,0.13,87.7,2939,2132,1718,4094,1.2,12.7,161,1104,5.68,0.00,-5.95,0.000,20486,0.023,0.000,2382,2139,2389,2389,4094,0,0,0,0,0,0,26.05,24.47,26.10,10.20,52.24
$FINISH2,0.1
$STATE,1105,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,221645
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.48
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.75,50.432
$10V_AH,10.26,48.715
$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,35.025,9.125,71.475,0.000,0.000,25.097,31.694,282.873,0.000,0.000,16.043,422.453,241.634,168.758,542.554,321.209,0.000,357.176,0.000,248.544,0.000,0.543,0.000
$DEVICE_MAMPS,98.685,1251.540,1320.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.146,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10782,164
$CAP_FILE_SIZE,32692,0
$CFSIZE,1024409600,932757504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260817,233426,6057.033,-17350.533,6,0.8,14,7.0,0.0,0.0,11,5.0