version: 66.13
glider: 401
mission: 22
dive: 1835
start: 8 28 117 4 6 47
data:
$ID,401
$MISSION,22
$DIVE,1835
$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,21
$R_STBD_OVSHOOT,40
$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
$GPS1,280817,034533,6045.2407,-17346.0859,6,1.0,18,7.0,0.0,219.0,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.7
$GPS2,280817,034533,6045.2407,-17346.0859,6,1.0,18,7.0,0.0,219.0,9,4.7
$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,158.2,37814,-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,11,-1.82,-585.0,2385,1970,2376,4092,0.0,0.0,0,18,5.55,0.00,0.00,0.000,4097,0.022,0.000,1833,1970,2376,2376,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.35,52.52
$GC,23,-1.82,-585.0,1833,1970,2376,4094,0.1,0.0,1,37,0.52,1.25,-7.00,0.000,21252,0.032,1.247,1772,1518,3172,3172,4094,0,0,0,0,0,0,26.10,24.30,26.13,10.35,52.24
$GC,193,-1.82,-585.0,1771,1518,3176,4094,24.2,-15.5,28,200,0.00,1.00,0.00,0.000,1030,0.000,0.027,1772,1944,3176,3176,4095,0,0,0,0,0,0,26.17,26.13,26.19,10.51,52.00
$GC,234,-1.82,-585.0,1771,1944,3177,4095,30.0,-14.0,34,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1944,3178,3178,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.48,51.89
$GC,274,-1.82,-585.0,1771,1944,3178,4095,35.2,-12.7,40,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3178,3178,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.46,50.94
$GC,314,-1.82,-585.0,1771,1945,3179,4095,39.9,-11.5,46,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3179,3179,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.45,50.19
$GC,355,-1.82,-585.0,1771,1945,3180,4095,44.7,-12.1,52,361,0.00,1.10,0.00,0.000,260,0.000,0.044,1772,2367,3180,3180,4095,0,0,0,0,0,0,26.51,26.10,26.52,10.44,49.52
$GC,449,-1.82,-585.0,1771,2367,3182,4095,56.5,-12.5,67,456,0.00,1.05,0.00,0.000,1030,0.000,0.030,1771,1944,3183,3183,4095,0,0,0,0,0,0,26.25,26.20,26.26,10.42,49.21
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,485,-0.45,0.0,1771,2138,3183,4095,60.1,-12.9,71,526,4.43,0.00,33.45,1.316,10244,0.051,0.000,2185,2138,2484,2484,4095,0,0,0,0,0,0,26.16,25.20,24.16,10.41,48.58
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,532,1.82,585.0,2185,2137,2484,4095,63.0,0.0,78,580,7.57,1.12,33.15,1.277,10500,0.029,0.051,2907,2556,1802,1802,4094,0,0,0,0,0,0,25.41,25.36,23.76,10.27,47.95
$GC,590,1.82,585.0,2906,2555,1802,4094,59.0,11.7,87,597,0.00,1.08,0.00,0.000,1030,0.000,0.025,2907,2136,1801,1801,4094,0,0,0,0,0,0,25.10,25.08,25.12,10.12,47.32
$GC,631,1.82,585.0,2907,2136,1800,4094,53.3,14.4,93,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2136,1800,1800,4094,0,0,0,0,0,0,25.56,25.57,25.57,10.11,46.88
$GC,671,1.82,585.0,2907,2136,1799,4094,47.6,13.7,99,678,0.00,1.10,0.00,0.000,516,0.000,0.045,2907,1718,1798,1798,4094,0,0,0,0,0,0,25.73,25.37,25.75,10.10,47.44
$GC,736,1.82,585.0,2907,1717,1797,4094,38.7,13.5,109,743,0.00,1.00,0.00,0.000,1030,0.000,0.030,2907,2121,1796,1796,4095,0,0,0,0,0,0,25.66,25.63,25.69,10.10,47.28
$GC,777,1.82,585.0,2906,2121,1796,4095,33.1,13.9,115,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2121,1796,1796,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.10,47.48
$GC,817,1.82,585.0,2907,2121,1794,4094,27.7,13.1,121,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2122,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.10,48.14
$GC,857,1.82,585.0,2906,2121,1793,4094,22.6,12.7,127,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2122,1793,1793,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.12,49.13
$GC,897,1.82,585.0,2907,2121,1792,4094,17.8,11.8,133,904,0.00,1.08,0.00,0.000,516,0.000,0.045,2907,1715,1791,1791,4094,0,0,0,0,0,0,26.20,25.81,26.22,10.15,50.11
$GC,962,1.82,585.0,2907,1715,1789,4094,10.5,11.6,143,969,0.00,1.00,0.00,0.000,1030,0.000,0.030,2907,2125,1790,1790,4094,0,0,0,0,0,0,26.00,25.96,26.03,10.17,51.73
$GC,1003,1.82,585.0,2907,2125,1788,4094,5.9,11.5,149,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2125,1788,1788,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.19,52.63
$STATE,1039,end climb,FINISH_DEPTH_REACHED
$STATE,1039,begin subsurface finish
$FINISH1,1.5,1.024240,95
$GC,1050,0.14,94.8,2907,2130,1787,4094,1.5,10.2,155,1064,5.25,0.00,-4.88,0.000,20486,0.018,0.000,2384,2132,2381,2381,4094,0,0,0,0,0,0,26.09,24.47,26.14,10.19,52.52
$FINISH2,0.5
$STATE,1065,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1065,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,022743
$TT8_MAMPS,0.025466,0.106358
$HUMID,53.11
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.76,52.693
$10V_AH,10.37,50.364
$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,23.325,11.850,66.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,407.731,241.591,144.466,227.981,105.352,0.000,316.610,0.000,237.025,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,1246.950,1315.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330792
$DATA_FILE_SIZE,10770,157
$CAP_FILE_SIZE,27070,0
$CFSIZE,1024409600,929316864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,034533,6045.241,-17346.086,6,1.0,18,7.0,0.0,219.0,9,4.7