version: 66.13
glider: 401
mission: 22
dive: 1829
start: 8 28 117 1 41 56
data:
$ID,401
$MISSION,22
$DIVE,1829
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,280817,012109,6047.1963,-17345.5762,7,0.8,14,7.0,0.0,204.1,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.3
$GPS2,280817,012109,6047.1963,-17345.5762,7,0.8,14,7.0,0.0,204.1,10,4.8
$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,160.1,41220,-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,-585.0,2388,1939,2377,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.018,0.000,1823,1935,2377,2377,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.35,52.12
$GC,24,-1.82,-585.0,1822,1938,2378,4094,0.2,0.0,1,37,0.40,1.15,-7.35,0.000,20996,0.041,1.261,1776,1532,3171,3171,4095,0,0,0,0,0,0,26.13,24.30,26.13,10.35,51.77
$GC,272,-1.82,-585.0,1776,1531,3177,4095,28.1,-12.8,41,279,0.00,1.00,0.00,0.000,1030,0.000,0.027,1776,1960,3177,3177,4094,0,0,0,0,0,0,26.22,26.20,26.25,10.48,51.92
$GC,313,-1.82,-585.0,1776,1961,3177,4094,33.0,-11.7,47,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1961,3178,3178,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.46,51.06
$GC,353,-1.82,-585.0,1776,1961,3178,4095,37.7,-11.5,53,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1961,3178,3178,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.45,50.51
$GC,393,-1.82,-585.0,1776,1960,3180,4095,42.5,-11.9,59,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1961,3180,3180,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.43,49.37
$GC,433,-1.82,-585.0,1776,1961,3181,4095,47.3,-12.5,65,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1961,3181,3181,4095,0,0,0,0,0,0,26.55,26.58,26.57,10.43,48.97
$GC,473,-1.82,-585.0,1776,1961,3181,4095,52.4,-12.9,71,479,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1961,3181,3181,4094,0,0,0,0,0,0,26.58,26.58,26.58,10.42,49.13
$GC,513,-1.82,-585.0,1776,1961,3183,4094,57.4,-12.9,77,520,0.00,1.08,0.00,0.000,260,0.000,0.045,1776,2372,3183,3183,4094,0,0,0,0,0,0,26.58,26.16,26.60,10.41,48.85
$STATE,531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,531,begin apogee
$GC,543,-0.45,0.0,1776,2119,3183,4095,60.3,-12.6,80,585,4.32,0.00,33.28,1.309,10244,0.050,0.000,2185,2116,2484,2484,4095,0,0,0,0,0,0,26.19,25.23,24.18,10.40,48.62
$STATE,586,end apogee,CONTROL_FINISHED_OK
$STATE,586,begin climb
$GC,591,1.82,585.0,2184,2117,2484,4095,63.5,0.0,87,638,7.57,0.00,33.15,1.278,11270,0.029,0.000,2902,2116,1802,1802,4095,0,0,0,0,0,0,25.53,25.69,23.78,10.26,48.07
$GC,672,1.82,585.0,2901,2116,1801,4095,56.2,13.2,100,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2116,1800,1800,4094,0,0,0,0,0,0,25.48,25.50,25.50,10.11,46.81
$GC,713,1.82,585.0,2901,2116,1800,4094,50.6,13.9,106,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2116,1799,1799,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.11,47.48
$GC,753,1.82,585.0,2901,2116,1798,4094,44.9,13.9,112,759,0.00,1.00,0.00,0.000,516,0.000,0.044,2902,1735,1798,1798,4095,0,0,0,0,0,0,25.83,25.47,25.84,10.10,46.81
$GC,847,1.82,585.0,2902,1735,1795,4095,31.7,13.8,127,854,0.00,0.95,0.00,0.000,1030,0.000,0.030,2902,2122,1795,1795,4094,0,0,0,0,0,0,25.79,25.75,25.82,10.09,47.79
$GC,888,1.82,585.0,2902,2122,1794,4094,26.2,13.7,133,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1794,1794,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.10,47.95
$GC,928,1.82,585.0,2902,2122,1793,4094,21.1,13.1,139,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1792,1792,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.12,48.70
$GC,968,1.82,585.0,2902,2122,1791,4094,16.3,11.6,145,975,0.00,1.00,0.00,0.000,516,0.000,0.044,2902,1740,1791,1791,4094,0,0,0,0,0,0,26.23,25.84,26.25,10.13,49.72
$GC,1099,1.83,591.4,2901,1740,1788,4094,2.6,10.4,166,1106,0.00,0.93,0.00,0.000,1030,0.000,0.029,2902,2122,1787,1787,4094,0,0,0,0,0,0,26.07,26.05,26.10,10.18,53.50
$STATE,1111,end climb,FINISH_DEPTH_REACHED
$STATE,1111,begin subsurface finish
$FINISH1,0.7,1.024242,95
$GC,1123,0.14,94.6,2902,2123,1787,4094,0.7,11.1,168,1136,5.22,0.00,-5.18,0.000,20486,0.023,0.000,2385,2130,2380,2380,4094,0,0,0,0,0,0,26.10,24.49,26.15,10.18,53.46
$FINISH2,0.1
$STATE,1137,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1137,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,011436
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.18
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.78,52.504
$10V_AH,10.38,50.224
$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,23.175,8.125,66.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,434.721,275.491,140.727,246.886,101.545,0.000,319.101,0.000,255.446,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1261.485,1308.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330568
$DATA_FILE_SIZE,14306,170
$CAP_FILE_SIZE,26367,0
$CFSIZE,1024409600,929611776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,012109,6047.196,-17345.576,7,0.8,14,7.0,0.0,204.1,10,4.8