version: 66.13
glider: 401
mission: 22
dive: 1774
start: 8 27 117 3 11 10
data:
$ID,401
$MISSION,22
$DIVE,1774
$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,25
$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
$GPS1,270817,030003,6054.5693,-17349.5449,5,0.8,43,7.0,0.9,245.8,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-39.0
$GPS2,270817,031031,6054.5498,-17349.7559,7,0.8,14,7.0,0.0,262.8,11,5.0
$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,145.5,21318,-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,-585.0,231,1954,1784,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.090,0.000,951,1953,1785,1785,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.26,51.53
$GC,26,-1.82,-585.0,950,1954,1785,4094,0.7,0.0,1,54,8.57,1.23,-12.88,0.000,18948,0.041,1.259,1752,1524,3170,3170,4094,0,0,0,0,0,0,25.88,24.12,25.96,10.26,51.45
$GC,196,-1.82,-585.0,1751,1524,3173,4094,18.3,-16.4,24,205,0.00,1.02,0.00,0.000,1030,0.000,0.026,1752,1954,3174,3174,4095,0,0,0,0,0,0,26.08,26.05,26.13,10.56,50.59
$GC,245,-1.82,-585.0,1751,1954,3174,4095,26.9,-15.3,30,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3175,3175,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.54,50.78
$GC,294,-1.82,-585.0,1752,1954,3176,4094,33.4,-13.1,36,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3176,3176,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.50,49.37
$GC,343,-1.82,-585.0,1752,1954,3177,4094,39.7,-13.3,42,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3177,3177,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.48,48.46
$GC,391,-1.82,-585.0,1751,1954,3178,4095,46.1,-12.9,48,400,0.00,1.10,0.00,0.000,260,0.000,0.044,1752,2376,3178,3178,4095,0,0,0,0,0,0,26.46,26.06,26.48,10.47,48.34
$GC,473,-1.82,-585.0,1752,2376,3180,4095,56.7,-13.0,59,482,0.00,1.05,0.00,0.000,1030,0.000,0.029,1753,1954,3180,3180,4094,0,0,0,0,0,0,26.21,26.18,26.28,10.44,47.28
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,508,-0.45,0.0,1752,2147,3181,4095,60.6,-12.9,62,552,4.65,0.00,33.47,1.330,10244,0.052,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.12,24.87,24.12,10.44,46.69
$STATE,553,end apogee,CONTROL_FINISHED_OK
$STATE,553,begin climb
$GC,558,1.82,585.0,2185,2146,2484,4094,64.1,0.0,67,602,7.65,0.00,33.28,1.289,11270,0.029,0.000,2905,2147,1802,1802,4094,0,0,0,0,0,0,25.48,25.64,23.75,10.29,46.18
$GC,642,1.82,585.0,2904,2146,1801,4094,57.1,13.0,77,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2147,1801,1801,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.14,45.07
$GC,690,1.82,585.0,2904,2146,1799,4094,50.5,13.7,83,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2147,1799,1799,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.12,45.03
$GC,739,1.82,585.0,2904,2146,1797,4094,43.9,13.3,89,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2146,1797,1797,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.11,45.39
$GC,787,1.82,585.0,2904,2146,1796,4094,37.4,13.4,95,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2147,1796,1796,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.12,45.62
$GC,836,1.82,585.0,2904,2146,1795,4094,31.0,13.1,101,846,0.00,1.15,0.00,0.000,516,0.000,0.043,2905,1711,1794,1794,4094,0,0,0,0,0,0,26.07,25.67,26.08,10.13,46.14
$GC,962,1.82,585.0,2904,1710,1791,4094,15.9,11.1,119,972,0.00,1.02,0.00,0.000,1030,0.000,0.029,2905,2130,1790,1790,4094,0,0,0,0,0,0,25.97,25.93,25.99,10.19,50.43
$GC,1012,1.82,585.0,2905,2130,1789,4094,10.3,12.0,125,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2130,1789,1789,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.20,50.59
$GC,1061,1.82,585.0,2905,2130,1787,4094,4.4,12.2,131,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2130,1786,1786,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.21,51.85
$STATE,1077,end climb,FINISH_DEPTH_REACHED
$STATE,1077,begin subsurface finish
$FINISH1,1.7,1.024326,89
$GC,1088,0.13,88.8,2905,2130,1786,4094,1.7,12.0,133,1107,5.30,1.17,-5.35,0.000,20996,0.021,1.251,2380,1717,2386,2386,4095,0,0,0,0,0,0,26.10,24.39,26.15,10.22,51.45
$FINISH2,0.1
$STATE,1108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,030346
$TT8_MAMPS,0.026964,0.250166
$HUMID,51.85
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.75,50.716
$10V_AH,10.11,48.934
$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,34.650,8.225,66.750,0.000,0.000,55.817,49.514,239.226,0.000,0.000,15.752,392.642,45.335,122.688,879.073,307.708,0.000,357.868,0.000,330.190,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,1259.190,1330.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.432,366.806,290.198,430.288,561.055,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329300
$DATA_FILE_SIZE,14382,135
$CAP_FILE_SIZE,28878,0
$CFSIZE,1024409600,932315136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270817,031031,6054.550,-17349.756,7,0.8,14,7.0,0.0,262.8,11,5.0