version: 66.13
glider: 401
mission: 22
dive: 1816
start: 8 27 117 20 27 5
data:
$ID,401
$MISSION,22
$DIVE,1816
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,270817,201413,6048.9790,-17348.7598,5,0.7,17,7.0,0.8,348.5,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-29.7
$GPS2,270817,202627,6049.0698,-17348.7480,7,0.8,21,7.0,0.3,358.5,10,5.0
$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,157.5,45295,-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,-585.0,230,1953,1719,4092,0.0,0.0,0,20,7.55,0.00,0.00,0.000,2049,0.080,0.000,883,1955,1719,1719,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.25,51.18
$GC,26,-1.82,-585.0,883,1955,1719,4094,0.5,0.0,1,54,9.25,1.23,-13.40,0.000,18948,0.041,1.248,1752,1519,3171,3171,4095,0,0,0,0,0,0,25.89,24.11,25.92,10.25,51.02
$GC,207,-1.82,-585.0,1751,1518,3174,4095,21.6,-16.7,26,215,0.00,1.02,0.00,0.000,1030,0.000,0.027,1752,1952,3175,3175,4095,0,0,0,0,0,0,26.10,26.07,26.15,10.56,50.43
$GC,256,-1.82,-585.0,1751,1952,3176,4095,28.7,-14.7,32,265,0.00,1.10,0.00,0.000,260,0.000,0.044,1752,2374,3176,3176,4095,0,0,0,0,0,0,26.39,25.98,26.41,10.55,50.23
$GC,349,-1.82,-585.0,1751,2374,3178,4095,40.7,-12.0,45,359,0.00,1.00,0.00,0.000,1030,0.000,0.026,1752,1975,3178,3178,4095,0,0,0,0,0,0,26.19,26.15,26.21,10.49,48.66
$GC,399,-1.82,-585.0,1752,1975,3179,4095,46.7,-12.7,51,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1974,3179,3179,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.47,47.79
$GC,448,-1.82,-585.0,1752,1975,3181,4094,53.1,-13.2,57,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1975,3180,3180,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.45,47.20
$GC,496,-1.82,-585.0,1752,1975,3181,4095,59.6,-13.2,63,505,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1975,3182,3182,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.44,46.45
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,513,begin apogee
$GC,524,-0.45,0.0,1752,2149,3182,4095,62.7,-13.5,65,568,4.65,0.00,33.67,1.336,10244,0.051,0.000,2187,2149,2484,2484,4095,0,0,0,0,0,0,26.13,25.16,24.09,10.44,46.53
$STATE,569,end apogee,CONTROL_FINISHED_OK
$STATE,569,begin climb
$GC,574,1.82,585.0,2187,2149,2485,4095,66.3,0.0,70,619,7.62,0.00,33.47,1.300,11270,0.029,0.000,2904,2149,1802,1802,4095,0,0,0,0,0,0,25.48,25.64,23.72,10.29,45.78
$GC,659,1.82,585.0,2903,2149,1800,4095,59.1,13.5,80,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2149,1801,1801,4094,0,0,0,0,0,0,25.48,25.50,25.49,10.14,44.76
$GC,708,1.82,585.0,2903,2149,1799,4094,52.1,14.3,86,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2149,1798,1798,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,45.19
$GC,757,1.82,585.0,2903,2148,1797,4094,45.3,13.7,92,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2149,1797,1797,4095,0,0,0,0,0,0,25.87,25.89,25.89,10.12,45.35
$GC,806,1.82,585.0,2903,2149,1796,4095,38.7,13.0,98,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2149,1795,1795,4095,0,0,0,0,0,0,25.99,26.00,26.00,10.12,45.51
$GC,855,1.82,585.0,2903,2149,1794,4095,32.4,12.9,104,864,0.00,1.15,0.00,0.000,516,0.000,0.044,2904,1709,1794,1794,4094,0,0,0,0,0,0,26.08,25.68,26.09,10.13,45.90
$GC,942,1.82,585.0,2903,1709,1790,4094,21.2,11.5,116,951,0.00,1.00,0.00,0.000,1030,0.000,0.028,2904,2121,1791,1791,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.16,47.99
$GC,990,1.82,585.0,2903,2120,1790,4094,15.6,11.9,122,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1789,1789,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.18,49.56
$GC,1038,1.82,585.0,2903,2120,1788,4094,10.0,11.4,128,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1788,1788,4093,0,0,0,0,0,0,26.31,26.32,26.32,10.19,50.43
$GC,1085,1.82,585.0,2903,2120,1786,4093,4.3,12.9,134,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1785,1785,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.20,51.41
$STATE,1102,end climb,FINISH_DEPTH_REACHED
$STATE,1102,begin subsurface finish
$FINISH1,1.8,1.024241,95
$GC,1113,0.14,94.7,2904,2120,1786,4094,1.8,11.8,136,1132,5.40,0.00,-5.10,0.000,20486,0.039,0.000,2381,2129,2376,2376,4094,0,0,0,0,0,0,26.13,25.42,26.17,10.21,51.06
$FINISH2,0.3
$STATE,1133,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1133,begin surface
$IRIDIUM_FIX,5953.71,-17808.45,270817,201814
$TT8_MAMPS,0.025466,0.252413
$HUMID,51.65
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.72,52.095
$10V_AH,10.10,49.929
$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,34.475,6.925,67.150,0.000,0.000,48.098,63.229,303.686,0.000,0.000,22.531,393.951,46.521,126.314,973.916,336.596,0.000,370.957,0.000,338.968,0.000,0.544,0.000
$DEVICE_MAMPS,79.560,1248.480,1336.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.381,374.978,296.632,439.694,573.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329228
$DATA_FILE_SIZE,14327,138
$CAP_FILE_SIZE,30966,0
$CFSIZE,1024409600,930250752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270817,202627,6049.070,-17348.748,7,0.8,21,7.0,0.3,358.5,10,5.0