version: 66.13
glider: 401
mission: 22
dive: 1793
start: 8 27 117 10 53 22
data:
$ID,401
$MISSION,22
$DIVE,1793
$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,29
$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
$GPS1,270817,103227,6053.3496,-17346.6641,7,0.8,17,7.0,0.5,76.7,11,4.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.5
$GPS2,270817,103227,6053.3496,-17346.6641,7,0.8,17,7.0,0.5,76.7,11,4.8
$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,150.1,18113,-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,6,begin dive
$GC,11,-1.82,-585.0,2382,1947,2380,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.023,0.000,1825,1947,2379,2379,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.35,52.32
$GC,24,-1.82,-585.0,1824,1947,2379,4094,0.1,0.0,1,37,0.43,1.20,-7.38,0.000,20996,0.041,1.255,1777,1520,3171,3171,4094,0,0,0,0,0,0,26.07,24.30,26.10,10.35,52.44
$GC,173,-1.82,-585.0,1776,1520,3175,4094,17.1,-15.3,24,179,0.00,1.02,0.00,0.000,1030,0.000,0.028,1777,1951,3175,3175,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.52,52.48
$GC,214,-1.82,-585.0,1776,1950,3175,4095,23.7,-13.6,30,220,0.00,1.10,0.00,0.000,260,0.000,0.044,1776,2376,3175,3175,4095,0,0,0,0,0,0,26.43,26.03,26.44,10.51,52.32
$GC,314,-1.82,-585.0,1776,2376,3177,4095,35.3,-11.9,46,321,0.00,1.00,0.00,0.000,1030,0.000,0.028,1777,1978,3178,3178,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.44,50.27
$GC,355,-1.82,-585.0,1776,1977,3179,4094,40.2,-11.8,52,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1977,3179,3179,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.43,49.80
$GC,395,-1.82,-585.0,1776,1977,3180,4094,45.1,-12.4,58,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1978,3180,3180,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,49.25
$GC,435,-1.82,-585.0,1776,1977,3180,4095,49.9,-12.5,64,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1977,3180,3180,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.42,48.81
$GC,475,-1.82,-585.0,1776,1977,3181,4094,54.9,-12.6,70,482,0.00,1.17,0.00,0.000,516,0.000,0.050,1777,1516,3181,3181,4095,0,0,0,0,0,0,26.55,26.12,26.57,10.41,48.66
$STATE,517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,517,begin apogee
$GC,529,-0.45,0.0,1776,2135,3183,4095,60.6,-12.5,77,571,4.38,0.00,33.38,1.318,10244,0.050,0.000,2186,2135,2484,2484,4095,0,0,0,0,0,0,26.18,25.21,24.18,10.40,48.62
$STATE,572,end apogee,CONTROL_FINISHED_OK
$STATE,572,begin climb
$GC,577,1.82,585.0,2185,2135,2484,4095,63.7,0.0,84,624,7.65,0.00,32.75,1.281,11270,0.029,0.000,2903,2135,1801,1801,4094,0,0,0,0,0,0,25.50,25.67,23.77,10.26,47.63
$GC,659,1.82,585.0,2903,2135,1800,4094,56.5,13.1,97,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1800,1800,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.11,46.57
$GC,699,1.82,585.0,2902,2135,1798,4094,50.9,14.0,103,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1798,1798,4094,0,0,0,0,0,0,25.67,25.70,25.69,10.10,46.65
$GC,739,1.82,585.0,2902,2135,1797,4094,45.4,13.9,109,746,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1707,1797,1797,4094,0,0,0,0,0,0,25.82,25.46,25.83,10.10,46.88
$GC,864,1.82,585.0,2903,1706,1794,4094,28.7,13.0,129,870,0.00,1.08,0.00,0.000,1030,0.000,0.030,2903,2140,1793,1793,4094,0,0,0,0,0,0,25.82,25.78,25.85,10.09,47.95
$GC,905,1.82,585.0,2903,2140,1792,4094,23.4,13.2,135,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2140,1792,1792,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.10,49.29
$GC,945,1.82,585.0,2903,2139,1791,4094,18.8,10.9,141,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2140,1790,1790,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,49.21
$GC,985,2.07,753.9,2903,2140,1790,4094,15.2,8.4,147,998,0.77,0.00,9.93,0.689,10246,0.026,0.000,2986,2140,1604,1604,4094,0,0,0,0,0,0,26.03,25.53,24.72,10.15,51.14
$GC,1032,2.07,753.9,2986,2140,1602,4094,10.1,11.5,154,1039,0.00,1.12,0.00,0.000,516,0.000,0.046,2987,1711,1602,1602,4094,0,0,0,0,0,0,26.16,25.77,26.17,10.12,51.61
$STATE,1105,end climb,FINISH_DEPTH_REACHED
$STATE,1105,begin subsurface finish
$FINISH1,1.5,1.024259,93
$GC,1117,0.14,93.4,2987,2150,1600,4094,1.5,11.8,166,1137,6.15,1.25,-6.75,0.000,20996,0.021,1.257,2385,1709,2380,2380,4094,0,0,0,0,0,0,25.98,24.25,26.03,10.14,53.46
$FINISH2,0.1
$STATE,1138,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1139,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,091221
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.42
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.77,51.318
$10V_AH,10.37,49.371
$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,25.025,13.225,76.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.484,270.240,151.499,245.496,100.077,0.000,330.409,0.000,254.067,0.000,0.543,0.000
$DEVICE_MAMPS,49.725,1256.895,1318.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330608
$DATA_FILE_SIZE,14275,169
$CAP_FILE_SIZE,27112,0
$CFSIZE,1024409600,931381248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,103227,6053.350,-17346.664,7,0.8,17,7.0,0.5,76.7,11,4.8