version: 66.13
glider: 401
mission: 22
dive: 1796
start: 8 27 117 12 7 13
data:
$ID,401
$MISSION,22
$DIVE,1796
$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,20
$R_STBD_OVSHOOT,65
$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
$GPS1,270817,114553,6052.7900,-17345.6426,7,0.9,18,7.0,0.2,188.0,10,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-4.2
$GPS2,270817,114553,6052.7900,-17345.6426,7,0.9,18,7.0,0.2,188.0,10,4.7
$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,151.6,16804,-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,-585.0,2388,1991,2377,4092,0.0,0.0,0,21,6.45,0.00,-2.03,0.000,20482,0.024,0.000,1760,1997,2596,2596,4094,0,0,0,0,0,0,26.06,28.83,26.11,10.35,52.91
$GC,27,-1.82,-585.0,1760,1996,2596,4094,0.2,0.0,1,36,0.00,1.35,-5.43,0.000,16900,0.000,1.251,1759,1518,3172,3172,4095,0,0,0,0,0,0,26.33,24.30,26.34,10.39,52.71
$GC,174,-1.82,-585.0,1759,1518,3176,4095,19.8,-17.0,22,183,0.00,0.95,0.00,0.000,1030,0.000,0.028,1759,1921,3176,3176,4094,0,0,0,0,0,0,26.15,26.13,26.16,10.52,52.79
$GC,223,-1.82,-585.0,1759,1920,3177,4094,27.6,-14.4,28,233,0.00,1.17,0.00,0.000,260,0.000,0.046,1760,2370,3177,3177,4094,0,0,0,0,0,0,26.44,26.02,26.46,10.50,52.28
$GC,338,-1.82,-585.0,1759,2369,3180,4094,42.5,-12.8,44,347,0.00,1.05,0.00,0.000,1030,0.000,0.029,1759,1949,3180,3180,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.44,50.15
$GC,387,-1.82,-585.0,1759,1949,3181,4094,48.7,-12.7,50,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1949,3181,3181,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.43,49.64
$GC,436,-1.82,-585.0,1759,1949,3183,4095,55.0,-12.8,56,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1949,3182,3182,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.41,48.70
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,483,-0.45,0.0,1759,2139,3183,4094,60.4,-12.4,61,527,4.57,0.00,33.55,1.314,10244,0.052,0.000,2186,2139,2484,2484,4094,0,0,0,0,0,0,26.17,25.20,24.17,10.41,48.30
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,533,1.82,585.0,2186,2139,2484,4094,63.9,0.0,66,577,7.65,0.00,33.35,1.283,11270,0.029,0.000,2903,2139,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.75,10.27,47.79
$GC,618,1.82,585.0,2903,2138,1801,4094,57.0,13.3,76,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.50,10.12,46.29
$GC,666,1.82,585.0,2903,2138,1800,4094,50.0,14.6,82,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1799,1799,4094,0,0,0,0,0,0,25.72,25.72,25.72,10.11,47.00
$GC,715,1.82,585.0,2903,2138,1797,4094,42.9,14.6,88,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1797,1797,4094,0,0,0,0,0,0,25.86,25.89,25.88,10.10,46.69
$GC,764,1.82,585.0,2903,2138,1796,4094,36.0,14.1,94,774,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1715,1796,1796,4094,0,0,0,0,0,0,25.98,25.61,26.00,10.10,47.48
$GC,851,1.82,585.0,2903,1715,1793,4094,24.4,12.5,106,861,0.00,1.00,0.00,0.000,1030,0.000,0.028,2904,2125,1793,1793,4094,0,0,0,0,0,0,25.87,25.84,25.92,10.12,48.50
$GC,900,1.82,585.0,2903,2125,1792,4094,19.0,10.9,112,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2125,1791,1791,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.15,48.97
$GC,947,1.82,585.0,2903,2124,1790,4094,13.9,11.1,118,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1790,1790,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,50.63
$GC,994,1.82,585.0,2903,2124,1789,4094,8.2,12.3,124,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1789,1789,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.18,51.45
$GC,1040,1.82,585.0,2903,2124,1787,4094,2.9,11.2,130,1050,0.00,1.10,0.00,0.000,516,0.000,0.047,2904,1708,1787,1787,4094,0,0,0,0,0,0,26.34,25.93,26.35,10.19,51.85
$STATE,1059,end climb,FINISH_DEPTH_REACHED
$STATE,1059,begin subsurface finish
$FINISH1,1.0,1.024228,96
$GC,1072,0.14,95.6,2904,2137,1787,4094,1.0,9.4,132,1092,5.45,1.20,-5.22,0.000,20996,0.041,1.248,2384,1712,2375,2375,4094,0,0,0,0,0,0,26.10,24.39,26.15,10.20,52.04
$FINISH2,0.1
$STATE,1093,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1093,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,102658
$TT8_MAMPS,0.026215,0.247919
$HUMID,53.26
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.75,51.416
$10V_AH,10.12,49.452
$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,24.125,11.075,66.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,382.804,0.000,115.146,559.740,98.331,0.000,337.610,0.000,328.035,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1250.775,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.931,364.115,288.052,427.281,556.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330612
$DATA_FILE_SIZE,14354,134
$CAP_FILE_SIZE,24503,0
$CFSIZE,1024409600,931233792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,114553,6052.790,-17345.643,7,0.9,18,7.0,0.2,188.0,10,4.7