version: 66.13
glider: 401
mission: 22
dive: 1801
start: 8 27 117 14 10 5
data:
$ID,401
$MISSION,22
$DIVE,1801
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,270817,135925,6051.1606,-17345.3750,4,0.8,34,7.0,0.3,99.5,10,4.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-36.2
$GPS2,270817,140927,6051.1069,-17345.5527,7,0.8,15,7.0,0.0,255.6,11,4.6
$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,147.3,13912,-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,-585.0,238,1978,1786,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,2049,0.089,0.000,715,1979,1787,1787,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.26,51.41
$GC,24,-1.82,-585.0,714,1978,1786,4094,0.7,0.0,1,54,11.18,1.23,-12.57,0.000,18948,0.045,1.246,1753,1524,3169,3169,4095,0,0,0,0,0,0,25.89,24.19,25.96,10.26,51.41
$GC,253,-1.82,-585.0,1752,1524,3175,4095,31.7,-14.3,38,259,0.00,0.98,0.00,0.000,1030,0.000,0.025,1753,1941,3175,3175,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.51,50.15
$GC,294,-1.82,-585.0,1752,1941,3176,4095,37.2,-13.6,44,300,0.00,1.12,0.00,0.000,260,0.000,0.044,1753,2371,3176,3176,4095,0,0,0,0,0,0,26.39,25.98,26.41,10.49,49.25
$GC,364,-1.82,-585.0,1752,2371,3178,4095,46.7,-13.5,55,371,0.00,1.00,0.00,0.000,1030,0.000,0.028,1753,1971,3178,3178,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.46,48.58
$GC,405,-1.82,-585.0,1752,1971,3179,4095,52.1,-13.7,61,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1971,3179,3179,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.45,48.54
$GC,445,-1.82,-585.0,1752,1971,3180,4095,57.6,-13.8,67,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1971,3180,3180,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.44,47.87
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,463,begin apogee
$GC,474,-0.45,0.0,1753,2138,3181,4094,60.5,-13.5,70,516,4.65,0.00,33.38,1.329,10244,0.052,0.000,2184,2138,2484,2484,4094,0,0,0,0,0,0,26.09,25.14,24.08,10.43,47.87
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,521,1.82,585.0,2184,2137,2484,4094,63.9,0.0,77,569,7.68,0.00,33.30,1.287,11270,0.030,0.000,2902,2138,1803,1803,4094,0,0,0,0,0,0,25.44,25.61,23.72,10.28,46.73
$GC,603,1.82,585.0,2902,2137,1801,4094,56.7,13.0,90,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1801,1801,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.13,45.43
$GC,643,1.82,585.0,2902,2137,1800,4094,50.9,15.1,96,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1800,1800,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.13,45.74
$GC,683,1.82,585.0,2902,2138,1798,4094,45.0,14.8,102,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1798,1798,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.12,46.10
$GC,723,1.82,585.0,2902,2137,1797,4094,39.2,14.4,108,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1797,1797,4094,0,0,0,0,0,0,25.91,25.92,25.91,10.12,46.06
$GC,763,1.82,585.0,2902,2137,1796,4094,33.6,13.9,114,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1795,1795,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.12,46.61
$GC,803,1.82,585.0,2902,2137,1794,4095,28.1,13.4,120,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1794,1794,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.12,47.12
$GC,843,1.82,585.0,2902,2137,1793,4094,23.6,11.0,126,850,0.00,1.15,0.00,0.000,516,0.000,0.045,2903,1706,1793,1793,4095,0,0,0,0,0,0,26.14,25.75,26.15,10.13,47.67
$GC,956,1.82,585.0,2902,1705,1790,4095,11.0,11.5,144,962,0.00,1.02,0.00,0.000,1030,0.000,0.028,2903,2126,1790,1790,4094,0,0,0,0,0,0,26.01,25.96,26.03,10.19,51.22
$GC,997,1.82,585.0,2902,2126,1788,4094,6.1,12.0,150,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1788,1788,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.19,51.73
$STATE,1032,end climb,FINISH_DEPTH_REACHED
$STATE,1032,begin subsurface finish
$FINISH1,1.7,1.024217,96
$GC,1044,0.14,96.4,2902,2126,1787,4095,1.7,11.9,156,1057,5.38,0.00,-5.15,0.000,20486,0.033,0.000,2381,2127,2377,2377,4095,0,0,0,0,0,0,26.10,24.49,26.15,10.21,51.92
$FINISH2,0.3
$STATE,1058,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1058,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,270817,125139
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.55
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.72,51.581
$10V_AH,10.25,49.559
$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,34.450,6.900,66.675,0.000,0.000,26.203,20.961,307.790,0.000,0.000,16.711,409.205,245.957,149.667,549.344,315.121,0.000,326.340,0.000,240.065,0.000,0.542,0.000
$DEVICE_MAMPS,88.740,1246.185,1328.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.471,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329284
$DATA_FILE_SIZE,10815,158
$CAP_FILE_SIZE,29638,0
$CFSIZE,1024409600,930988032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270817,140927,6051.107,-17345.553,7,0.8,15,7.0,0.0,255.6,11,4.6