version: 66.13
glider: 401
mission: 22
dive: 1822
start: 8 27 117 22 52 39
data:
$ID,401
$MISSION,22
$DIVE,1822
$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,30
$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
$GPS1,270817,224251,6048.7065,-17347.0000,5,0.8,18,7.0,0.3,99.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-39.1
$GPS2,270817,225201,6048.7183,-17346.9258,7,0.8,28,7.0,0.2,252.5,11,3.9
$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,159.4,44246,-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,-585.0,230,1946,1786,4092,0.0,0.0,0,21,8.45,0.00,0.00,0.000,2049,0.083,0.000,957,1944,1786,1786,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.26,51.89
$GC,27,-1.82,-585.0,957,1943,1786,4094,0.6,0.0,1,54,8.55,1.17,-12.82,0.000,18948,0.047,1.245,1751,1524,3171,3171,4094,0,0,0,0,0,0,25.90,24.15,25.93,10.26,51.96
$GC,248,-1.82,-585.0,1750,1524,3177,4094,28.6,-15.1,32,258,0.00,1.02,0.00,0.000,1030,0.000,0.025,1751,1962,3177,3177,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.53,50.31
$GC,298,-1.82,-585.0,1750,1962,3178,4094,35.0,-12.9,38,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1962,3178,3178,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.50,49.88
$GC,347,-1.82,-585.0,1750,1963,3179,4094,41.4,-13.0,44,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1963,3179,3179,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.48,49.09
$GC,395,-1.82,-585.0,1751,1963,3180,4095,47.8,-13.5,50,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1963,3181,3181,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.46,48.50
$GC,443,-1.82,-585.0,1750,1963,3181,4095,54.2,-13.2,56,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1963,3182,3182,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.45,47.48
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,499,-0.45,0.0,1751,2145,3183,4094,60.7,-13.5,62,543,4.65,0.00,33.58,1.332,10244,0.052,0.000,2185,2145,2484,2484,4095,0,0,0,0,0,0,26.13,25.16,24.10,10.43,46.88
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,549,1.82,585.0,2184,2145,2484,4095,64.7,0.0,67,593,7.65,0.00,33.35,1.290,11270,0.030,0.000,2903,2145,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.74,10.29,47.00
$GC,633,1.82,585.0,2903,2145,1801,4094,57.6,13.3,77,643,0.00,1.17,0.00,0.000,516,0.000,0.043,2904,1710,1801,1801,4094,0,0,0,0,0,0,25.48,25.18,25.49,10.13,45.43
$GC,720,1.82,585.0,2902,1710,1798,4094,45.1,14.1,89,730,0.00,1.02,0.00,0.000,1030,0.000,0.028,2903,2124,1798,1798,4094,0,0,0,0,0,0,25.58,25.56,25.60,10.12,45.62
$GC,769,1.82,585.0,2903,2124,1796,4094,38.3,14.0,95,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1796,1796,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.12,45.90
$GC,816,1.82,585.0,2903,2124,1795,4094,31.9,13.0,101,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2124,1795,1795,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.12,46.29
$GC,864,1.82,585.0,2903,2123,1794,4094,25.7,12.6,107,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2124,1794,1794,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.14,47.79
$GC,911,1.82,585.0,2903,2124,1792,4094,20.4,11.5,113,921,0.00,1.10,0.00,0.000,516,0.000,0.044,2903,1706,1792,1792,4094,0,0,0,0,0,0,26.21,25.85,26.22,10.16,49.48
$GC,1011,1.82,585.0,2903,1706,1789,4094,9.0,11.0,127,1021,0.00,1.05,0.00,0.000,1030,0.000,0.028,2903,2137,1789,1789,4094,0,0,0,0,0,0,26.06,26.01,26.06,10.20,51.14
$GC,1060,1.83,595.5,2903,2137,1788,4094,3.8,10.4,133,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1787,1787,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.20,51.65
$STATE,1076,end climb,FINISH_DEPTH_REACHED
$STATE,1076,begin subsurface finish
$FINISH1,1.8,1.024256,94
$GC,1088,0.14,93.7,2903,2137,1786,4094,1.8,9.6,135,1106,5.30,0.00,-5.28,0.000,20486,0.026,0.000,2386,2145,2379,2379,4095,0,0,0,0,0,0,26.08,25.43,26.14,10.21,51.65
$FINISH2,0.1
$STATE,1107,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,270817,213325
$TT8_MAMPS,0.025466,0.252413
$HUMID,51.96
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.74,52.283
$10V_AH,10.11,50.070
$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,34.600,6.975,66.925,0.000,0.000,22.371,18.386,254.481,0.000,0.000,29.277,388.339,0.000,118.920,848.385,310.672,0.000,350.542,0.000,336.620,0.000,0.543,0.000
$DEVICE_MAMPS,83.385,1245.420,1331.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.908,372.240,294.469,436.600,569.491,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329244
$DATA_FILE_SIZE,14338,137
$CAP_FILE_SIZE,27906,0
$CFSIZE,1024409600,929955840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270817,225201,6048.718,-17346.926,7,0.8,28,7.0,0.2,252.5,11,3.9