version: 66.13
glider: 401
mission: 22
dive: 1852
start: 8 28 117 11 10 9
data:
$ID,401
$MISSION,22
$DIVE,1852
$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,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
$GPS1,280817,105837,6042.3623,-17345.7656,8,1.1,18,7.0,0.5,34.2,10,4.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-35.8
$GPS2,280817,110931,6042.3853,-17345.7148,7,1.1,18,7.0,0.3,50.8,10,5.0
$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,156.4,32631,-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,-585.0,231,1974,1683,4092,0.0,0.0,0,20,7.60,0.00,0.00,0.000,2049,0.088,0.000,878,1967,1683,1683,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.22,51.65
$GC,26,-1.82,-585.0,878,1967,1683,4094,0.7,0.0,1,54,9.50,1.27,-13.02,0.000,18948,0.050,1.248,1753,1521,3170,3170,4095,0,0,0,0,0,0,25.85,24.06,25.86,10.23,51.92
$GC,261,-1.82,-585.0,1752,1521,3176,4095,29.5,-11.7,34,271,0.00,1.00,0.00,0.000,1030,0.000,0.024,1752,1954,3176,3176,4094,0,0,0,0,0,0,26.13,26.08,26.14,10.48,50.23
$GC,311,-1.82,-585.0,1752,1954,3178,4094,35.9,-12.8,40,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3177,3177,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.46,50.19
$GC,360,-1.82,-585.0,1752,1954,3178,4094,42.4,-12.9,46,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1954,3178,3178,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.45,49.29
$GC,409,-1.82,-585.0,1751,1954,3180,4095,48.7,-12.7,52,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1954,3180,3180,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.44,48.30
$GC,458,-1.82,-585.0,1752,1954,3180,4094,55.2,-13.3,58,467,0.00,1.08,0.00,0.000,260,0.000,0.045,1753,2365,3181,3181,4094,0,0,0,0,0,0,26.49,26.06,26.51,10.43,47.44
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,500,-0.45,0.0,1752,2106,3182,4095,60.0,-13.0,62,543,4.65,0.00,33.65,1.310,10244,0.052,0.000,2186,2103,2484,2484,4094,0,0,0,0,0,0,26.08,25.14,24.08,10.42,47.32
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,549,1.82,585.0,2186,2103,2485,4094,63.5,0.0,67,594,7.57,0.00,33.40,1.278,11270,0.030,0.000,2905,2103,1802,1802,4094,0,0,0,0,0,0,25.46,25.63,23.70,10.28,46.65
$GC,634,1.82,585.0,2905,2103,1801,4094,56.2,13.4,77,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2104,1801,1801,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.12,45.78
$GC,683,1.82,585.0,2904,2103,1799,4094,49.4,14.0,83,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2104,1798,1798,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.12,46.02
$GC,732,1.82,585.0,2904,2103,1798,4094,42.6,13.8,89,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2104,1797,1797,4094,0,0,0,0,0,0,25.86,25.87,25.86,10.11,46.10
$GC,781,1.82,585.0,2904,2103,1796,4094,36.1,13.3,95,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2103,1796,1796,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.10,46.61
$GC,830,1.82,585.0,2905,2103,1795,4094,29.7,13.1,101,840,0.00,0.95,0.00,0.000,516,0.000,0.045,2905,1736,1794,1794,4094,0,0,0,0,0,0,26.07,25.69,26.08,10.10,46.81
$GC,924,1.82,585.0,2905,1736,1791,4094,18.3,11.7,114,933,0.00,0.93,0.00,0.000,1030,0.000,0.029,2905,2117,1792,1792,4094,0,0,0,0,0,0,25.93,25.90,26.00,10.12,47.83
$GC,974,1.82,585.0,2905,2116,1790,4094,12.9,11.1,120,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2117,1790,1790,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,49.56
$GC,1022,1.82,585.0,2904,2117,1788,4094,7.3,11.4,126,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2117,1788,1788,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.18,50.63
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1067,begin subsurface finish
$FINISH1,1.8,1.024311,90
$GC,1078,0.13,89.8,2905,2117,1787,4094,1.8,11.0,132,1098,5.28,1.08,-5.28,0.000,20996,0.023,1.252,2383,1738,2378,2378,4095,0,0,0,0,0,0,26.09,24.32,26.13,10.19,51.89
$FINISH2,0.2
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,095006
$TT8_MAMPS,0.025466,0.24717
$HUMID,52.04
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.70,53.254
$10V_AH,10.09,50.780
$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,34.600,6.900,67.050,0.000,0.000,25.281,17.295,359.013,0.000,0.000,19.817,389.782,0.000,119.267,937.429,315.751,0.000,350.933,0.000,328.319,0.000,0.543,0.000
$DEVICE_MAMPS,87.975,1252.305,1310.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.937,364.098,288.091,427.416,558.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329276
$DATA_FILE_SIZE,10913,134
$CAP_FILE_SIZE,27723,0
$CFSIZE,1024409600,928481280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280817,110931,6042.385,-17345.715,7,1.1,18,7.0,0.3,50.8,10,5.0