version: 66.13
glider: 401
mission: 22
dive: 1798
start: 8 27 117 12 58 6
data:
$ID,401
$MISSION,22
$DIVE,1798
$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
$GPS1,270817,124756,6052.0425,-17345.2402,5,0.8,19,7.0,0.4,229.2,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-34.1
$GPS2,270817,125727,6051.9941,-17345.3203,7,0.7,24,7.0,0.2,115.9,11,4.8
$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,150.6,15328,-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,-585.0,237,1940,1785,4092,0.0,0.0,0,21,8.45,0.00,0.00,0.000,2049,0.092,0.000,952,1932,1784,1784,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.25,52.12
$GC,26,-1.82,-585.0,952,1939,1785,4094,0.7,0.0,1,53,8.50,1.17,-12.88,0.000,18948,0.040,1.249,1753,1521,3170,3170,4095,0,0,0,0,0,0,25.90,24.15,25.95,10.26,52.32
$GC,226,-1.82,-585.0,1752,1521,3175,4095,24.5,-17.0,29,236,0.00,0.95,0.00,0.000,1030,0.000,0.026,1753,1927,3175,3175,4095,0,0,0,0,0,0,26.11,26.08,26.17,10.54,50.90
$GC,276,-1.82,-585.0,1752,1927,3176,4095,31.2,-13.8,35,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1926,3176,3176,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.50,50.00
$GC,325,-1.82,-585.0,1752,1927,3177,4095,37.8,-13.5,41,334,0.00,1.15,0.00,0.000,260,0.000,0.044,1752,2368,3177,3177,4094,0,0,0,0,0,0,26.44,26.03,26.45,10.48,49.48
$GC,399,-1.82,-585.0,1752,2368,3180,4094,47.4,-12.4,51,408,0.00,1.08,0.00,0.000,1030,0.000,0.029,1753,1936,3179,3179,4095,0,0,0,0,0,0,26.17,26.16,26.20,10.46,48.34
$GC,447,-1.82,-585.0,1752,1936,3180,4095,53.8,-13.8,57,456,0.00,1.05,0.00,0.000,516,0.000,0.050,1753,1518,3180,3180,4094,0,0,0,0,0,0,26.51,26.08,26.52,10.45,47.55
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,503,-0.45,0.0,1753,2128,3181,4094,60.7,-14.0,63,547,4.65,0.00,33.60,1.334,10244,0.053,0.000,2186,2128,2484,2484,4094,0,0,0,0,0,0,26.11,24.86,24.10,10.44,46.81
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,553,1.82,585.0,2186,2128,2484,4094,64.5,0.0,68,598,7.65,0.00,33.42,1.296,11270,0.030,0.000,2903,2128,1802,1802,4094,0,0,0,0,0,0,25.47,25.64,23.72,10.29,46.18
$GC,638,1.82,585.0,2902,2127,1800,4094,57.4,13.3,78,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1801,1801,4094,0,0,0,0,0,0,25.48,25.48,25.48,10.13,45.47
$GC,687,1.82,585.0,2902,2127,1799,4094,50.6,14.0,84,697,0.00,1.12,0.00,0.000,516,0.000,0.043,2903,1708,1798,1798,4094,0,0,0,0,0,0,25.70,25.35,25.71,10.13,45.55
$GC,769,1.82,585.0,2902,1708,1796,4094,39.0,14.2,95,779,0.00,1.05,0.00,0.000,1030,0.000,0.030,2903,2131,1796,1796,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.12,46.92
$GC,819,1.82,585.0,2902,2131,1794,4094,32.0,13.9,101,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1794,1794,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.13,46.45
$GC,867,1.82,585.0,2902,2131,1792,4094,25.3,14.4,107,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1792,1792,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.14,47.63
$GC,915,1.82,585.0,2902,2131,1791,4094,19.4,11.3,113,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1790,1790,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.16,48.30
$GC,963,1.82,585.0,2903,2131,1789,4094,13.9,11.3,119,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1789,1789,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.19,49.76
$GC,1012,1.82,585.0,2902,2131,1788,4094,8.1,12.1,125,1020,0.00,1.10,0.00,0.000,516,0.000,0.045,2903,1713,1788,1788,4094,0,0,0,0,0,0,26.30,25.89,26.31,10.20,50.63
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1068,begin subsurface finish
$FINISH1,1.4,1.024228,96
$GC,1080,0.14,95.6,2903,2143,1786,4094,1.4,9.8,133,1099,5.25,1.23,-5.25,0.000,20996,0.022,1.250,2386,1708,2375,2375,4095,0,0,0,0,0,0,26.10,24.38,26.15,10.21,51.29
$FINISH2,0.2
$STATE,1100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,113931
$TT8_MAMPS,0.025466,0.248668
$HUMID,52.12
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.72,51.485
$10V_AH,10.10,49.500
$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,34.500,12.625,67.025,0.000,0.000,24.411,17.475,276.767,0.000,0.000,25.681,391.320,0.000,120.661,863.083,307.340,0.000,350.411,0.000,331.198,0.000,0.542,0.000
$DEVICE_MAMPS,91.800,1250.010,1334.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.510,366.836,290.227,430.441,560.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329312
$DATA_FILE_SIZE,14320,135
$CAP_FILE_SIZE,28710,0
$CFSIZE,1024409600,931135488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270817,125727,6051.994,-17345.320,7,0.7,24,7.0,0.2,115.9,11,4.8