version: 66.13
glider: 401
mission: 22
dive: 1823
start: 8 27 117 23 13 5
data:
$ID,401
$MISSION,22
$DIVE,1823
$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,18
$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
$GPS1,270817,225201,6048.7183,-17346.9258,7,0.8,28,7.0,0.2,252.5,11,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-3.0
$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,5,begin dive
$GC,10,-1.82,-585.0,2386,1956,2379,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,4097,0.018,0.000,1829,1956,2379,2379,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.35,51.81
$GC,23,-1.82,-585.0,1829,1956,2378,4094,0.0,0.0,1,37,0.47,1.23,-7.30,0.000,20996,0.038,1.253,1775,1517,3171,3171,4094,0,0,0,0,0,0,26.10,24.31,26.13,10.35,52.08
$GC,175,-1.82,-585.0,1774,1517,3175,4094,20.0,-16.8,25,181,0.00,1.05,0.00,0.000,1030,0.000,0.027,1774,1959,3175,3175,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.53,51.85
$GC,216,-1.82,-585.0,1774,1959,3175,4095,26.0,-14.1,31,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1959,3175,3175,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.52,52.40
$GC,256,-1.82,-585.0,1774,1959,3176,4095,31.4,-13.7,37,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1959,3176,3176,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.50,51.41
$GC,296,-1.82,-585.0,1775,1959,3177,4095,36.3,-12.5,43,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1960,3178,3178,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.48,50.90
$GC,336,-1.82,-585.0,1774,1959,3178,4095,41.0,-12.2,49,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1960,3178,3178,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.45,50.86
$GC,376,-1.82,-585.0,1774,1959,3179,4095,45.8,-12.4,55,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1960,3179,3179,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.44,50.27
$GC,416,-1.82,-585.0,1774,1960,3180,4095,50.7,-12.5,61,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1960,3180,3180,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.43,49.60
$GC,456,-1.82,-585.0,1774,1960,3180,4095,55.6,-12.4,67,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1960,3181,3181,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.42,49.21
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,502,-0.45,0.0,1774,2141,3182,4095,60.3,-12.1,73,544,4.38,0.00,33.30,1.314,10244,0.050,0.000,2186,2142,2484,2484,4094,0,0,0,0,0,0,26.18,25.22,24.18,10.42,48.11
$STATE,545,end apogee,CONTROL_FINISHED_OK
$STATE,545,begin climb
$GC,550,1.82,585.0,2186,2141,2484,4094,63.1,0.0,80,598,7.55,1.15,33.08,1.275,10756,0.029,0.041,2904,1701,1802,1802,4094,0,0,0,0,0,0,25.44,25.39,23.78,10.27,47.67
$GC,645,1.82,585.0,2904,1701,1800,4094,54.2,13.7,95,651,0.00,1.10,0.00,0.000,1030,0.000,0.029,2904,2135,1800,1800,4095,0,0,0,0,0,0,25.32,25.29,25.35,10.12,46.92
$GC,686,1.82,585.0,2904,2134,1799,4095,48.3,14.1,101,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1798,1798,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.12,46.53
$GC,726,1.82,585.0,2904,2135,1797,4094,42.5,14.3,107,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1797,1797,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.11,47.24
$GC,766,1.82,585.0,2903,2135,1796,4094,37.0,14.1,113,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1795,1795,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.10,47.55
$GC,806,1.82,585.0,2904,2134,1795,4094,31.6,13.4,119,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1794,1794,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.11,47.44
$GC,846,1.82,585.0,2904,2135,1794,4094,26.1,13.9,125,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2135,1793,1793,4095,0,0,0,0,0,0,26.12,26.13,26.13,10.12,48.07
$GC,886,1.82,585.0,2904,2135,1792,4095,21.6,11.3,131,892,0.00,1.15,0.00,0.000,516,0.000,0.044,2905,1701,1792,1792,4095,0,0,0,0,0,0,26.17,25.78,26.19,10.15,49.21
$GC,1010,1.82,585.0,2904,1701,1788,4095,7.5,11.2,151,1017,0.00,1.08,0.00,0.000,1030,0.000,0.028,2905,2141,1788,1788,4095,0,0,0,0,0,0,26.06,26.01,26.06,10.19,52.28
$GC,1051,1.82,585.0,2903,2141,1787,4095,3.0,10.9,157,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2141,1787,1787,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.20,52.87
$STATE,1062,end climb,FINISH_DEPTH_REACHED
$STATE,1062,begin subsurface finish
$FINISH1,1.4,1.024256,94
$GC,1074,0.14,93.6,2904,2145,1786,4094,1.4,10.4,159,1087,5.32,0.00,-5.25,0.000,20486,0.028,0.000,2385,2144,2381,2381,4095,0,0,0,0,0,0,26.09,24.49,26.15,10.20,52.83
$FINISH2,0.1
$STATE,1088,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,270817,213325
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.66
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.78,52.308
$10V_AH,10.38,50.081
$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,23.300,7.675,66.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,413.726,246.210,148.210,233.871,108.859,0.000,324.713,0.000,242.794,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1253.070,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.522,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330564
$DATA_FILE_SIZE,10825,161
$CAP_FILE_SIZE,26955,0
$CFSIZE,1024409600,929906688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,225201,6048.718,-17346.926,7,0.8,28,7.0,0.2,252.5,11,3.9