version: 66.13
glider: 401
mission: 22
dive: 1847
start: 8 28 117 9 2 9
data:
$ID,401
$MISSION,22
$DIVE,1847
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,280817,084047,6043.0508,-17347.0957,7,0.8,13,7.0,0.0,342.9,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.8
$GPS2,280817,084047,6043.0508,-17347.0957,7,0.8,13,7.0,0.0,342.9,9,4.5
$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,155.0,34183,-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,-585.0,2384,1973,2382,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,4097,0.021,0.000,1824,1973,2383,2383,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.33,52.12
$GC,23,-1.82,-585.0,1824,1973,2382,4094,0.1,0.0,1,37,0.43,1.27,-7.35,0.000,20996,0.040,1.253,1777,1519,3173,3173,4094,0,0,0,0,0,0,26.07,24.26,26.09,10.34,52.20
$GC,217,-1.82,-585.0,1776,1519,3177,4094,23.4,-12.0,32,224,0.00,1.02,0.00,0.000,1030,0.000,0.027,1777,1954,3177,3177,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.49,52.36
$GC,258,-1.82,-585.0,1776,1954,3178,4095,28.5,-12.7,38,265,0.00,1.10,0.00,0.000,260,0.000,0.045,1777,2373,3178,3178,4095,0,0,0,0,0,0,26.46,26.04,26.47,10.46,52.40
$GC,323,-1.82,-585.0,1776,2373,3179,4095,36.3,-11.8,48,330,0.00,1.05,0.00,0.000,1030,0.000,0.030,1777,1952,3180,3180,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.43,50.82
$GC,364,-1.82,-585.0,1776,1952,3180,4094,41.2,-12.3,54,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1952,3181,3181,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.42,49.72
$GC,404,-1.82,-585.0,1776,1951,3180,4094,46.1,-12.0,60,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1952,3181,3181,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.42,49.56
$GC,444,-1.82,-585.0,1776,1952,3182,4095,50.9,-12.0,66,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1952,3183,3183,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.41,48.93
$GC,484,-1.82,-585.0,1776,1952,3183,4095,55.9,-12.1,72,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1952,3183,3183,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.40,48.85
$STATE,513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,514,begin apogee
$GC,525,-0.45,0.0,1777,2142,3184,4094,60.1,-12.4,77,566,4.35,0.00,33.53,1.308,10244,0.050,0.000,2187,2143,2484,2484,4094,0,0,0,0,0,0,26.17,25.20,24.16,10.40,48.97
$STATE,567,end apogee,CONTROL_FINISHED_OK
$STATE,567,begin climb
$GC,572,1.82,585.0,2187,2142,2484,4094,63.0,0.0,84,620,7.57,0.00,33.22,1.272,11270,0.030,0.000,2900,2143,1801,1801,4094,0,0,0,0,0,0,25.50,25.67,23.75,10.25,47.99
$GC,654,1.82,585.0,2900,2142,1800,4094,55.7,13.1,97,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1800,1800,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.11,46.85
$GC,695,1.82,585.0,2900,2142,1799,4094,50.2,13.6,103,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1799,1799,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.09,47.71
$GC,735,1.82,585.0,2900,2142,1797,4094,44.6,14.2,109,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1797,1797,4095,0,0,0,0,0,0,25.81,25.82,25.82,10.10,47.55
$GC,775,1.82,585.0,2900,2142,1796,4095,39.1,13.9,115,781,0.00,1.12,0.00,0.000,516,0.000,0.044,2901,1716,1796,1796,4094,0,0,0,0,0,0,25.92,25.54,25.93,10.08,47.36
$GC,894,1.82,585.0,2900,1715,1792,4094,23.8,11.7,134,900,0.00,1.02,0.00,0.000,1030,0.000,0.028,2901,2134,1793,1793,4094,0,0,0,0,0,0,25.86,25.84,25.90,10.09,48.70
$GC,935,1.82,585.0,2900,2134,1791,4094,18.8,12.5,140,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2135,1791,1791,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.12,49.09
$GC,975,1.82,585.0,2900,2134,1789,4094,14.3,11.1,146,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1790,1790,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.14,50.15
$GC,1015,1.82,585.0,2900,2134,1789,4094,9.8,11.4,152,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2134,1789,1789,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.16,51.69
$GC,1055,1.82,585.0,2900,2134,1787,4094,5.7,10.9,158,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2134,1787,1787,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.17,52.63
$STATE,1084,end climb,FINISH_DEPTH_REACHED
$STATE,1084,begin subsurface finish
$FINISH1,2.0,1.024299,91
$GC,1096,0.14,90.7,2900,2134,1786,4094,2.0,11.5,163,1115,5.47,1.17,-5.07,0.000,20996,0.047,1.253,2389,1715,2385,2385,4094,0,0,0,0,0,0,25.99,24.20,26.08,10.17,53.15
$FINISH2,0.3
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1116,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,072310
$TT8_MAMPS,0.025466,0.106358
$HUMID,53.42
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.75,53.080
$10V_AH,10.36,50.648
$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,23.450,8.700,66.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,423.487,259.990,148.390,241.391,106.226,0.000,326.466,0.000,249.800,0.000,0.543,0.000
$DEVICE_MAMPS,49.725,1253.070,1308.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330572
$DATA_FILE_SIZE,10769,166
$CAP_FILE_SIZE,26400,0
$CFSIZE,1024409600,928727040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,084047,6043.051,-17347.096,7,0.8,13,7.0,0.0,342.9,9,4.5