version: 66.13
glider: 401
mission: 22
dive: 1775
start: 8 27 117 3 31 37
data:
$ID,401
$MISSION,22
$DIVE,1775
$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,63
$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
$GPS1,270817,031031,6054.5498,-17349.7559,7,0.8,14,7.0,0.0,262.8,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.8
$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,10,-1.82,-585.0,2380,2001,2386,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,4097,0.021,0.000,1822,2000,2386,2386,4094,0,0,0,0,0,0,26.37,28.83,28.83,10.36,51.92
$GC,23,-1.82,-585.0,1822,2000,2386,4094,0.1,0.0,1,36,0.40,0.00,-7.32,0.000,20486,0.036,0.000,1774,2001,3171,3171,4095,0,0,0,0,0,0,26.12,24.58,26.13,10.36,51.65
$GC,70,-1.82,-585.0,1773,2000,3172,4095,2.6,-10.4,8,77,0.00,1.25,0.00,0.000,516,0.000,0.050,1773,1518,3172,3172,4095,0,0,0,0,0,0,26.34,25.93,26.35,10.53,52.40
$GC,195,-1.82,-585.0,1773,1517,3175,4095,21.7,-16.1,28,201,0.00,0.95,0.00,0.000,1030,0.000,0.027,1773,1927,3175,3175,4094,0,0,0,0,0,0,26.18,26.15,26.21,10.53,51.85
$GC,236,-1.82,-585.0,1773,1927,3176,4094,27.2,-12.9,34,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1927,3176,3176,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.50,51.14
$GC,275,-1.82,-585.0,1773,1927,3177,4094,32.3,-12.3,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1928,3177,3177,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.48,50.86
$GC,315,-1.82,-585.0,1773,1928,3178,4094,37.3,-12.7,46,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1928,3179,3179,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.47,50.94
$GC,355,-1.82,-585.0,1773,1928,3179,4095,42.3,-12.3,52,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1929,3179,3179,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.45,49.76
$GC,395,-1.82,-585.0,1773,1929,3180,4095,47.3,-12.2,58,402,0.00,1.15,0.00,0.000,260,0.000,0.044,1774,2370,3180,3180,4094,0,0,0,0,0,0,26.54,26.13,26.55,10.44,49.84
$GC,490,-1.82,-585.0,1773,2369,3182,4094,58.9,-12.3,73,496,0.00,1.02,0.00,0.000,1030,0.000,0.030,1773,1958,3182,3182,4095,0,0,0,0,0,0,26.27,26.25,26.31,10.41,48.34
$STATE,501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,501,begin apogee
$GC,512,-0.45,0.0,1773,2137,3183,4095,60.8,-12.9,75,554,4.43,0.00,33.28,1.322,10244,0.050,0.000,2187,2138,2484,2484,4094,0,0,0,0,0,0,26.18,25.22,24.18,10.42,48.18
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,555,begin climb
$GC,559,1.82,585.0,2187,2137,2483,4094,63.7,0.0,82,607,7.65,0.00,33.17,1.279,11270,0.029,0.000,2905,2137,1803,1803,4094,0,0,0,0,0,0,25.51,25.67,23.78,10.27,47.59
$GC,642,1.82,585.0,2904,2137,1801,4094,56.3,13.3,95,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2138,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.12,46.14
$GC,682,1.82,585.0,2904,2137,1800,4094,50.5,14.5,101,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2137,1799,1799,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.11,46.53
$GC,722,1.82,585.0,2904,2137,1798,4094,44.8,14.5,107,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2138,1798,1798,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.10,47.40
$GC,761,1.82,585.0,2904,2137,1797,4094,39.2,14.5,113,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2138,1797,1797,4095,0,0,0,0,0,0,25.93,25.94,25.94,10.11,46.85
$GC,801,1.82,585.0,2904,2137,1796,4095,33.7,13.5,119,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2137,1795,1795,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.10,47.00
$GC,841,1.82,585.0,2904,2137,1794,4094,28.1,14.2,125,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2137,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,48.38
$GC,881,1.82,585.0,2904,2137,1793,4094,22.7,13.0,131,888,0.00,1.12,0.00,0.000,516,0.000,0.043,2905,1711,1794,1794,4094,0,0,0,0,0,0,26.14,25.77,26.16,10.13,48.97
$GC,1036,1.82,585.0,2904,1710,1788,4094,4.9,11.9,156,1043,0.00,1.00,0.00,0.000,1030,0.000,0.030,2905,2120,1788,1788,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.19,52.44
$STATE,1060,end climb,FINISH_DEPTH_REACHED
$STATE,1060,begin subsurface finish
$FINISH1,1.6,1.024314,90
$GC,1071,0.13,89.6,2905,2120,1787,4094,1.6,11.9,160,1085,5.32,0.00,-5.30,0.000,20486,0.021,0.000,2383,2128,2385,2385,4094,0,0,0,0,0,0,26.08,24.50,26.13,10.20,52.91
$FINISH2,0.1
$STATE,1086,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,030346
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.34
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.78,50.740
$10V_AH,10.37,48.945
$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,23.475,7.500,66.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,415.868,254.612,144.339,235.543,98.566,0.000,319.051,0.000,244.166,0.000,0.542,0.000
$DEVICE_MAMPS,49.725,49.725,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,10766,162
$CAP_FILE_SIZE,26308,0
$CFSIZE,1024409600,932265984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,031031,6054.550,-17349.756,7,0.8,14,7.0,0.0,262.8,11,5.0