version: 66.13
glider: 401
mission: 22
dive: 1789
start: 8 27 117 9 19 6
data:
$ID,401
$MISSION,22
$DIVE,1789
$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,24
$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
$GPS1,270817,090515,6053.4419,-17348.0195,4,0.9,13,7.0,0.5,58.2,9,5.0
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-40.9
$GPS2,270817,091828,6053.5347,-17347.8770,6,0.8,16,7.0,0.0,33.9,11,4.9
$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,147.4,18876,-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,-585.0,230,1951,1769,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,2049,0.084,0.000,716,1949,1769,1769,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.26,51.89
$GC,23,-1.82,-585.0,715,1949,1769,4094,0.7,0.0,1,54,11.15,1.20,-12.95,0.000,18948,0.045,1.249,1752,1521,3172,3172,4095,0,0,0,0,0,0,25.86,24.08,25.94,10.26,50.78
$GC,223,-1.82,-585.0,1752,1521,3177,4095,22.8,-16.3,33,229,0.00,1.02,0.00,0.000,1030,0.000,0.025,1752,1958,3177,3177,4094,0,0,0,0,0,0,26.09,26.06,26.10,10.55,50.27
$GC,264,-1.82,-585.0,1751,1958,3178,4094,28.0,-12.0,39,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3178,3178,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.53,50.23
$GC,304,-1.82,-585.0,1752,1958,3179,4095,33.2,-12.6,45,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3179,3179,4095,0,0,0,0,0,0,26.40,26.42,26.41,10.49,49.21
$GC,343,-1.82,-585.0,1752,1958,3180,4095,38.3,-12.7,51,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3180,3180,4095,0,0,0,0,0,0,26.43,26.45,26.44,10.48,48.38
$GC,383,-1.82,-585.0,1752,1958,3181,4095,43.6,-13.1,57,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3180,3180,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.47,48.11
$GC,423,-1.82,-585.0,1752,1958,3182,4094,48.9,-13.3,63,430,0.00,1.08,0.00,0.000,260,0.000,0.045,1752,2370,3182,3182,4095,0,0,0,0,0,0,26.48,26.06,26.49,10.46,47.83
$GC,494,-1.82,-585.0,1752,2370,3183,4095,58.4,-13.1,74,501,0.00,1.10,0.00,0.000,1030,0.000,0.028,1752,1925,3184,3184,4094,0,0,0,0,0,0,26.20,26.16,26.23,10.43,46.81
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,517,-0.45,0.0,1752,2139,3184,4095,60.6,-13.3,76,558,4.65,0.00,33.55,1.307,10244,0.051,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.12,25.17,24.13,10.44,46.77
$STATE,559,end apogee,CONTROL_FINISHED_OK
$STATE,559,begin climb
$GC,564,1.82,585.0,2185,2139,2484,4094,63.8,0.0,83,611,7.62,0.00,33.25,1.275,11270,0.029,0.000,2902,2139,1801,1801,4094,0,0,0,0,0,0,25.48,25.63,23.75,10.28,46.14
$GC,646,1.82,585.0,2901,2138,1800,4094,56.7,12.7,96,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1800,1800,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.14,45.43
$GC,686,1.82,585.0,2901,2138,1798,4094,51.2,13.6,102,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1798,1798,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.13,46.06
$GC,726,1.82,585.0,2901,2139,1797,4094,46.0,13.0,108,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1797,1797,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.12,45.70
$GC,766,1.82,585.0,2901,2138,1796,4094,40.6,13.3,114,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1796,1796,4094,0,0,0,0,0,0,25.91,25.94,25.93,10.11,45.94
$GC,806,1.82,585.0,2901,2139,1795,4094,35.2,13.5,120,812,0.00,1.10,0.00,0.000,516,0.000,0.043,2902,1722,1794,1794,4094,0,0,0,0,0,0,26.01,25.64,26.02,10.11,46.77
$GC,900,1.82,585.0,2901,1722,1791,4094,22.3,13.9,135,907,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2130,1791,1791,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.13,47.32
$GC,941,1.82,585.0,2901,2129,1790,4094,17.5,11.3,141,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1789,1789,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.16,48.58
$GC,981,1.82,585.0,2901,2130,1789,4094,13.1,11.2,147,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1789,1789,4094,0,0,0,0,0,0,26.26,26.28,26.27,10.18,50.23
$GC,1021,1.82,585.0,2901,2129,1788,4094,8.5,12.0,153,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1788,1788,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.19,51.92
$GC,1061,1.82,585.0,2901,2130,1787,4094,4.0,11.5,159,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1786,1786,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.20,51.73
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.8,1.024269,93
$GC,1090,0.14,92.8,2901,2130,1785,4095,1.8,10.3,162,1110,5.38,1.12,-5.22,0.000,20996,0.037,1.242,2384,1713,2382,2382,4094,0,0,0,0,0,0,26.10,24.24,26.15,10.20,52.67
$FINISH2,0.1
$STATE,1111,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1111,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,091043
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.48
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.75,51.195
$10V_AH,10.26,49.279
$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,34.450,8.150,66.800,0.000,0.000,76.110,70.216,299.628,0.000,0.000,18.072,424.361,336.568,164.587,657.516,330.069,0.000,352.767,0.000,250.042,0.000,0.543,0.000
$DEVICE_MAMPS,84.150,1249.245,1307.385,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,10836,165
$CAP_FILE_SIZE,33154,0
$CFSIZE,1024409600,931561472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270817,091828,6053.535,-17347.877,6,0.8,16,7.0,0.0,33.9,11,4.9