version: 66.13
glider: 401
mission: 22
dive: 1814
start: 8 27 117 19 32 46
data:
$ID,401
$MISSION,22
$DIVE,1814
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,270817,191204,6049.0854,-17349.0293,7,0.8,17,7.0,0.5,267.6,10,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.3
$GPS2,270817,191204,6049.0854,-17349.0293,7,0.8,17,7.0,0.5,267.6,10,4.9
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W19S
$TGT_LATLONG,6025.500,-17335.520
$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,157.2,45392,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.82,-585.0,2388,1944,2379,4092,0.0,0.0,0,21,6.40,0.00,-1.10,0.000,20482,0.021,0.000,1756,1944,2498,2498,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.35,53.50
$GC,26,-1.82,-585.0,1756,1944,2498,4094,0.0,0.0,1,37,0.00,1.17,-6.05,0.000,16900,0.000,1.261,1756,1524,3170,3170,4094,0,0,0,0,0,0,26.43,24.31,26.44,10.37,53.34
$GC,216,-1.82,-585.0,1756,1524,3175,4094,26.3,-15.5,28,226,0.00,1.00,0.00,0.000,1030,0.000,0.026,1756,1953,3175,3175,4094,0,0,0,0,0,0,26.25,26.21,26.26,10.51,52.32
$GC,265,-1.82,-585.0,1755,1953,3177,4094,32.2,-12.3,34,274,0.00,1.10,0.00,0.000,260,0.000,0.046,1756,2372,3177,3177,4095,0,0,0,0,0,0,26.52,26.10,26.53,10.48,52.24
$GC,352,-1.82,-585.0,1755,2371,3178,4095,43.4,-12.9,46,361,0.00,1.00,0.00,0.000,1030,0.000,0.028,1756,1972,3179,3179,4094,0,0,0,0,0,0,26.28,26.25,26.31,10.45,50.47
$GC,402,-1.82,-585.0,1755,1972,3180,4094,49.8,-13.5,52,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1972,3180,3180,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.43,49.21
$GC,451,-1.82,-585.0,1755,1972,3181,4095,56.3,-13.4,58,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1972,3181,3181,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.42,48.66
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,485,-0.45,0.0,1757,2145,3182,4095,60.2,-13.5,61,529,4.60,0.00,33.42,1.310,10244,0.052,0.000,2186,2145,2485,2485,4094,0,0,0,0,0,0,26.20,24.93,24.20,10.41,48.34
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,535,1.82,585.0,2186,2145,2484,4094,63.7,0.0,66,579,7.62,0.00,33.35,1.278,11270,0.030,0.000,2903,2145,1802,1802,4094,0,0,0,0,0,0,25.54,25.71,23.77,10.27,48.30
$GC,619,1.82,585.0,2902,2145,1801,4094,56.7,13.4,76,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2146,1801,1801,4094,0,0,0,0,0,0,25.51,25.52,25.52,10.12,46.88
$GC,668,1.82,585.0,2902,2145,1799,4094,49.8,13.7,82,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1799,1799,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.11,46.85
$GC,717,1.82,585.0,2902,2145,1797,4094,43.1,13.8,88,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1797,1797,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.11,46.57
$GC,766,1.82,585.0,2902,2144,1796,4094,36.5,13.6,94,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1796,1796,4094,0,0,0,0,0,0,26.00,26.02,26.01,10.10,47.36
$GC,815,1.82,585.0,2902,2145,1794,4094,30.0,12.8,100,824,0.00,1.15,0.00,0.000,516,0.000,0.045,2903,1712,1794,1794,4094,0,0,0,0,0,0,26.10,25.70,26.10,10.11,47.87
$GC,902,1.82,585.0,2902,1712,1792,4094,19.8,11.1,112,912,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2131,1792,1792,4094,0,0,0,0,0,0,25.94,25.91,26.00,10.15,49.33
$GC,950,1.82,585.0,2902,2130,1790,4094,14.2,12.3,118,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1790,1790,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.18,50.90
$GC,998,1.82,585.0,2902,2130,1788,4094,8.4,12.1,124,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1789,1789,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.18,51.57
$GC,1046,2.00,709.0,2903,2130,1788,4094,3.9,9.0,130,1056,0.55,0.00,7.47,0.536,10246,0.028,0.000,2971,2131,1656,1656,4095,0,0,0,0,0,0,26.11,25.65,24.87,10.19,52.16
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,1.3,1.024240,95
$GC,1076,0.14,94.7,2970,2138,1656,4095,1.3,10.5,132,1094,5.97,0.00,-6.38,0.000,20486,0.021,0.000,2385,2137,2380,2380,4095,0,0,0,0,0,0,26.03,24.48,26.08,10.17,52.12
$FINISH2,0.2
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,270817,175447
$TT8_MAMPS,0.025466,0.255409
$HUMID,52.16
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.77,52.021
$10V_AH,10.14,49.878
$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,25.150,7.375,74.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,378.031,1.028,114.988,559.773,102.739,0.000,338.213,0.000,328.234,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1260.720,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.882,364.096,288.036,427.258,557.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,14298,134
$CAP_FILE_SIZE,24442,0
$CFSIZE,1024409600,930349056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,191204,6049.085,-17349.029,7,0.8,17,7.0,0.5,267.6,10,4.9