version: 66.13
glider: 401
mission: 22
dive: 1853
start: 8 28 117 11 30 28
data:
$ID,401
$MISSION,22
$DIVE,1853
$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,53
$R_STBD_OVSHOOT,44
$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
$GPS1,280817,110931,6042.3853,-17345.7148,7,1.1,18,7.0,0.3,50.8,10,5.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-1.7
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.82,-585.0,2383,1974,2378,4091,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.023,0.000,1823,1975,2378,2378,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.33,52.40
$GC,23,-1.82,-585.0,1823,1974,2378,4095,0.1,0.0,1,37,0.43,1.10,-7.35,0.000,20740,0.041,1.238,1776,2364,3171,3171,4095,0,0,0,0,0,0,26.06,24.26,26.08,10.33,52.04
$GC,89,-1.82,-585.0,1775,2364,3172,4095,6.6,-14.4,11,96,0.00,0.98,0.00,0.000,1030,0.000,0.029,1776,1980,3173,3173,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.51,52.55
$GC,130,-1.82,-585.0,1775,1980,3174,4095,12.9,-15.8,17,136,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1980,3174,3174,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.51,52.87
$GC,170,-1.82,-585.0,1775,1980,3175,4095,19.0,-14.6,23,177,0.00,1.17,0.00,0.000,516,0.000,0.050,1776,1520,3175,3175,4094,0,0,0,0,0,0,26.40,25.96,26.41,10.50,53.03
$GC,229,-1.82,-585.0,1775,1520,3175,4094,25.9,-9.1,32,236,0.00,0.98,0.00,0.000,1030,0.000,0.026,1776,1945,3175,3175,4094,0,0,0,0,0,0,26.20,26.17,26.21,10.47,51.65
$GC,270,-1.82,-585.0,1775,1945,3177,4094,30.4,-11.5,38,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1945,3177,3177,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.46,51.37
$GC,310,-1.82,-585.0,1775,1945,3178,4094,35.2,-12.0,44,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1946,3178,3178,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.44,50.51
$GC,350,-1.82,-585.0,1775,1945,3179,4095,40.4,-12.7,50,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1945,3179,3179,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.43,49.76
$GC,390,-1.82,-585.0,1775,1945,3179,4095,45.3,-12.1,56,397,0.00,1.08,0.00,0.000,260,0.000,0.045,1776,2362,3179,3179,4095,0,0,0,0,0,0,26.52,26.10,26.53,10.41,49.44
$GC,467,-1.82,-585.0,1775,2362,3181,4095,54.7,-12.3,68,474,0.00,1.02,0.00,0.000,1030,0.000,0.029,1776,1952,3181,3181,4094,0,0,0,0,0,0,26.25,26.21,26.27,10.40,49.21
$GC,508,-1.82,-585.0,1775,1952,3182,4094,59.7,-12.3,74,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1952,3183,3183,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.40,49.60
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,530,-0.45,0.0,1775,2134,3183,4095,61.7,-12.7,76,572,4.38,0.00,33.53,1.333,10244,0.050,0.000,2185,2134,2483,2483,4094,0,0,0,0,0,0,26.16,25.19,24.12,10.39,48.93
$STATE,573,end apogee,CONTROL_FINISHED_OK
$STATE,573,begin climb
$GC,578,1.82,585.0,2185,2133,2483,4094,64.5,0.0,83,626,7.62,0.00,33.20,1.294,11270,0.030,0.000,2902,2134,1801,1801,4094,0,0,0,0,0,0,25.49,25.65,23.72,10.25,48.77
$GC,660,1.82,585.0,2902,2134,1800,4094,57.1,13.2,96,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1800,1800,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.10,46.85
$GC,700,1.82,585.0,2902,2133,1797,4094,51.5,13.7,102,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1798,1798,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.09,47.04
$GC,740,1.82,585.0,2902,2133,1797,4094,45.9,13.7,108,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1797,1797,4095,0,0,0,0,0,0,25.79,25.81,25.81,10.09,47.55
$GC,780,1.82,585.0,2902,2133,1796,4095,40.3,13.6,114,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1795,1795,4094,0,0,0,0,0,0,25.91,25.92,25.92,10.09,47.48
$GC,820,1.82,585.0,2901,2133,1795,4094,35.1,12.7,120,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1794,1794,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.08,48.26
$GC,860,1.82,585.0,2902,2133,1793,4094,29.8,12.8,126,867,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1711,1793,1793,4094,0,0,0,0,0,0,26.08,25.67,26.08,10.08,48.03
$GC,949,1.82,585.0,2902,1710,1790,4094,19.1,11.0,140,956,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2127,1790,1790,4094,0,0,0,0,0,0,25.92,25.89,25.95,10.10,49.40
$GC,990,1.82,585.0,2902,2127,1789,4094,14.3,11.8,146,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1789,1789,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.13,50.39
$GC,1030,1.82,585.0,2902,2127,1788,4094,9.6,11.1,152,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1788,1788,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.15,51.77
$GC,1070,1.82,585.0,2902,2127,1787,4094,5.2,11.0,158,1077,0.00,1.10,0.00,0.000,516,0.000,0.045,2903,1711,1787,1787,4094,0,0,0,0,0,0,26.32,25.91,26.34,10.16,52.48
$STATE,1101,end climb,FINISH_DEPTH_REACHED
$STATE,1101,begin subsurface finish
$FINISH1,1.4,1.024287,92
$GC,1114,0.14,91.5,2903,2144,1785,4094,1.4,10.4,163,1133,5.28,1.20,-5.28,0.000,20996,0.022,1.248,2384,1713,2382,2382,4095,0,0,0,0,0,0,26.08,24.20,26.13,10.17,52.67
$FINISH2,0.2
$STATE,1134,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1134,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,095006
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.93
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.72,53.279
$10V_AH,10.36,50.791
$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,23.350,12.850,66.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,428.047,245.084,163.468,241.989,118.647,0.000,350.577,0.000,249.721,0.000,0.544,0.000
$DEVICE_MAMPS,49.725,1248.480,1333.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.781,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,10859,166
$CAP_FILE_SIZE,30145,0
$CFSIZE,1024409600,928432128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,110931,6042.385,-17345.715,7,1.1,18,7.0,0.3,50.8,10,5.0