version: 66.13
glider: 401
mission: 22
dive: 1799
start: 8 27 117 13 18 25
data:
$ID,401
$MISSION,22
$DIVE,1799
$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,40
$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
$GPS1,270817,125727,6051.9941,-17345.3203,7,0.7,24,7.0,0.2,115.9,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.3
$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,10,-1.82,-585.0,2385,1979,2375,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,4097,0.023,0.000,1836,1979,2374,2374,4095,0,0,0,0,0,0,26.37,28.83,28.83,10.35,51.69
$GC,23,-1.82,-585.0,1835,1979,2375,4095,0.1,0.0,1,36,0.55,0.00,-7.43,0.000,20486,0.035,0.000,1776,1980,3170,3170,4095,0,0,0,0,0,0,26.09,24.56,26.10,10.35,52.28
$GC,70,-1.82,-585.0,1775,1975,3170,4095,1.7,-6.8,8,77,0.00,1.17,0.00,0.000,516,0.000,0.053,1776,1525,3171,3171,4094,0,0,0,0,0,0,26.34,25.93,26.35,10.52,52.12
$GC,207,-1.82,-585.0,1775,1525,3175,4094,22.6,-16.1,30,214,0.00,0.98,0.00,0.000,1030,0.000,0.027,1776,1939,3175,3175,4095,0,0,0,0,0,0,26.19,26.16,26.21,10.52,51.73
$GC,248,-1.82,-585.0,1775,1940,3176,4095,28.1,-13.2,36,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1940,3176,3176,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.48,52.04
$GC,288,-1.82,-585.0,1775,1939,3177,4095,33.2,-12.9,42,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1940,3177,3177,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.48,51.49
$GC,328,-1.82,-585.0,1774,1940,3177,4094,38.1,-11.7,48,335,0.00,1.12,0.00,0.000,260,0.000,0.044,1775,2372,3178,3178,4095,0,0,0,0,0,0,26.51,26.10,26.51,10.46,50.27
$GC,399,-1.82,-585.0,1775,2372,3179,4095,46.3,-11.8,59,406,0.00,1.08,0.00,0.000,1030,0.000,0.029,1775,1937,3179,3179,4094,0,0,0,0,0,0,26.22,26.19,26.26,10.44,49.72
$GC,440,-1.82,-585.0,1775,1937,3180,4094,51.3,-12.3,65,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1938,3180,3180,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.42,49.05
$GC,480,-1.82,-585.0,1775,1937,3181,4095,56.4,-13.0,71,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1938,3181,3181,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.42,48.50
$STATE,509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,509,begin apogee
$GC,520,-0.45,0.0,1776,2141,3182,4094,60.6,-12.8,76,562,4.38,0.00,33.38,1.319,10244,0.050,0.000,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.18,25.22,24.18,10.42,48.93
$STATE,563,end apogee,CONTROL_FINISHED_OK
$STATE,563,begin climb
$GC,567,1.82,585.0,2186,2141,2483,4094,63.6,0.0,83,615,7.65,0.00,33.12,1.283,11270,0.030,0.000,2902,2141,1803,1803,4094,0,0,0,0,0,0,25.51,25.67,23.78,10.26,47.51
$GC,650,1.82,585.0,2902,2141,1803,4094,56.2,13.5,96,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2141,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.48,10.11,46.65
$GC,690,1.82,585.0,2902,2141,1801,4094,50.6,13.8,102,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2141,1800,1800,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.11,46.45
$GC,730,1.82,585.0,2902,2141,1799,4094,45.1,13.8,108,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2141,1799,1799,4094,0,0,0,0,0,0,25.82,25.83,25.82,10.10,46.69
$GC,769,1.82,585.0,2902,2141,1797,4094,39.3,14.2,114,776,0.00,1.12,0.00,0.000,516,0.000,0.042,2902,1719,1797,1797,4094,0,0,0,0,0,0,25.92,25.56,25.94,10.10,47.00
$GC,852,1.82,585.0,2902,1718,1795,4094,27.8,13.5,127,859,0.00,1.00,0.00,0.000,1030,0.000,0.029,2902,2126,1795,1795,4094,0,0,0,0,0,0,25.82,25.81,25.85,10.11,47.83
$GC,893,1.82,585.0,2902,2126,1794,4094,22.3,12.9,133,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1793,1793,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,48.93
$GC,933,1.82,585.0,2902,2126,1792,4094,17.6,11.4,139,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2126,1792,1792,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.14,50.27
$GC,973,1.82,585.0,2902,2126,1791,4094,13.2,10.7,145,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1790,1790,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.16,50.86
$GC,1013,1.82,585.0,2902,2126,1790,4094,8.7,11.4,151,1020,0.00,1.08,0.00,0.000,516,0.000,0.045,2902,1718,1790,1790,4094,0,0,0,0,0,0,26.29,25.89,26.30,10.17,51.53
$STATE,1079,end climb,FINISH_DEPTH_REACHED
$STATE,1079,begin subsurface finish
$FINISH1,1.7,1.024225,96
$GC,1092,0.14,95.8,2902,2143,1788,4094,1.7,8.4,162,1112,5.40,1.20,-5.18,0.000,20996,0.039,1.254,2391,1719,2377,2377,4094,0,0,0,0,0,0,26.01,24.25,26.09,10.19,53.07
$FINISH2,0.2
$STATE,1113,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1113,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,113931
$TT8_MAMPS,0.024717,0.104111
$HUMID,53.07
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.78,51.510
$10V_AH,10.37,49.511
$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,23.550,10.925,66.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,423.108,256.207,152.131,240.023,103.911,0.000,332.003,0.000,248.264,0.000,0.545,0.000
$DEVICE_MAMPS,49.725,1253.835,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10793,165
$CAP_FILE_SIZE,27643,0
$CFSIZE,1024409600,931086336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,125727,6051.994,-17345.320,7,0.7,24,7.0,0.2,115.9,11,4.8