version: 66.13
glider: 401
mission: 22
dive: 1837
start: 8 28 117 4 58 13
data:
$ID,401
$MISSION,22
$DIVE,1837
$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,31
$R_STBD_OVSHOOT,29
$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
$GPS1,280817,044733,6044.3872,-17346.4453,8,0.8,20,7.0,0.6,210.5,11,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-37.2
$GPS2,280817,045735,6044.3647,-17346.5781,6,0.9,25,7.0,0.8,199.3,10,5.0
$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,156.9,36371,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.82,-585.0,230,1943,1665,4092,0.0,0.0,0,18,5.57,0.00,0.00,0.000,2049,0.086,0.000,711,1943,1665,1665,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.23,51.65
$GC,24,-1.82,-585.0,710,1943,1665,4094,0.7,0.0,1,55,11.20,1.15,-13.90,0.000,18948,0.046,1.249,1752,1526,3172,3172,4095,0,0,0,0,0,0,25.85,24.08,25.94,10.23,51.41
$GC,205,-1.82,-585.0,1751,1526,3176,4095,22.4,-15.8,30,212,0.00,1.00,0.00,0.000,1030,0.000,0.026,1752,1952,3176,3176,4094,0,0,0,0,0,0,26.09,26.06,26.10,10.53,50.82
$GC,246,-1.82,-585.0,1751,1951,3177,4094,28.1,-12.6,36,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3177,3177,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.51,50.03
$GC,286,-1.82,-585.0,1751,1952,3178,4094,33.4,-13.4,42,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3178,3178,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.48,49.84
$GC,326,-1.82,-585.0,1751,1953,3179,4095,38.7,-13.2,48,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3179,3179,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.46,48.89
$GC,366,-1.82,-585.0,1751,1952,3180,4095,44.1,-14.0,54,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1952,3180,3180,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.45,48.42
$GC,407,-1.82,-585.0,1751,1952,3181,4095,49.5,-13.6,60,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3182,3182,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.44,48.18
$GC,447,-1.82,-585.0,1751,1952,3182,4095,55.0,-13.6,66,453,0.00,1.10,0.00,0.000,260,0.000,0.045,1752,2372,3182,3182,4095,0,0,0,0,0,0,26.50,26.07,26.51,10.44,47.16
$STATE,483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,483,begin apogee
$GC,494,-0.45,0.0,1751,2112,3183,4094,60.6,-13.8,72,536,4.62,0.00,33.45,1.310,10244,0.051,0.000,2185,2108,2484,2484,4094,0,0,0,0,0,0,26.10,25.16,24.09,10.43,47.04
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,542,1.82,585.0,2184,2108,2484,4094,64.2,0.0,79,589,7.60,0.00,33.28,1.281,11270,0.029,0.000,2903,2108,1801,1801,4094,0,0,0,0,0,0,25.47,25.63,23.71,10.28,46.96
$GC,624,1.82,585.0,2902,2108,1800,4094,57.3,13.4,92,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2108,1800,1800,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.13,45.55
$GC,664,1.82,585.0,2902,2108,1798,4094,51.7,13.8,98,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2108,1798,1798,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.12,46.41
$GC,704,1.82,585.0,2902,2108,1796,4094,46.0,14.0,104,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2108,1796,1796,4094,0,0,0,0,0,0,25.80,25.82,25.81,10.12,46.14
$GC,744,1.82,585.0,2902,2108,1795,4094,40.3,13.9,110,750,0.00,0.98,0.00,0.000,516,0.000,0.044,2903,1735,1795,1795,4094,0,0,0,0,0,0,25.91,25.55,25.92,10.11,46.14
$GC,839,1.82,585.0,2903,1735,1792,4094,26.7,14.6,125,845,0.00,0.98,0.00,0.000,1030,0.000,0.029,2903,2133,1792,1792,4094,0,0,0,0,0,0,25.83,25.79,25.85,10.11,47.36
$GC,880,1.82,585.0,2902,2132,1791,4094,21.4,12.8,131,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1790,1790,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.13,47.99
$GC,920,1.82,585.0,2902,2132,1789,4094,16.4,11.9,137,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1789,1789,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.14,49.48
$GC,960,1.82,585.0,2902,2132,1787,4094,11.7,11.8,143,966,0.00,1.02,0.00,0.000,516,0.000,0.044,2903,1740,1788,1788,4094,0,0,0,0,0,0,26.26,25.86,26.27,10.16,50.07
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1050,begin subsurface finish
$FINISH1,1.7,1.024231,95
$GC,1063,0.14,95.4,2903,2139,1785,4094,1.7,9.3,158,1076,5.22,0.00,-4.95,0.000,20486,0.022,0.000,2382,2139,2380,2380,4094,0,0,0,0,0,0,26.11,24.46,26.15,10.20,52.75
$FINISH2,0.4
$STATE,1077,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,034017
$TT8_MAMPS,0.024717,0.133322
$HUMID,52.67
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.71,52.764
$10V_AH,10.31,50.413
$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,34.225,7.825,66.725,0.000,0.000,22.753,28.994,287.815,0.000,0.000,26.961,414.796,246.265,154.388,546.908,325.088,0.000,333.923,0.000,242.882,0.000,0.544,0.000
$DEVICE_MAMPS,85.680,1249.245,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,10894,160
$CAP_FILE_SIZE,30526,0
$CFSIZE,1024409600,929218560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280817,045735,6044.365,-17346.578,6,0.9,25,7.0,0.8,199.3,10,5.0