version: 66.13
glider: 401
mission: 22
dive: 1856
start: 8 28 117 12 43 17
data:
$ID,401
$MISSION,22
$DIVE,1856
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,280817,122207,6041.8022,-17345.0840,9,1.1,54,7.0,0.4,354.3,8,3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-0.4
$GPS2,280817,122207,6041.8022,-17345.0840,9,1.1,54,7.0,0.4,354.3,8,3.0
$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,156.9,31432,-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,-585.0,2383,1962,2377,4092,0.0,0.0,0,22,6.30,0.00,-2.05,0.000,20482,0.019,0.000,1756,1962,2606,2606,4094,0,0,0,0,0,0,26.09,28.83,26.14,10.33,52.91
$GC,27,-1.82,-585.0,1756,1962,2606,4094,0.4,0.0,1,37,0.00,1.23,-5.22,0.000,16900,0.000,1.252,1756,1524,3170,3170,4094,0,0,0,0,0,0,26.34,24.25,26.35,10.38,52.75
$GC,167,-1.82,-585.0,1755,1524,3173,4094,17.2,-16.0,21,176,0.00,1.00,0.00,0.000,1030,0.000,0.026,1756,1950,3174,3174,4094,0,0,0,0,0,0,26.13,26.11,26.16,10.51,52.59
$GC,215,-1.82,-585.0,1755,1950,3175,4094,23.7,-13.2,27,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1951,3175,3175,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.48,52.20
$GC,263,-1.82,-585.0,1756,1950,3176,4094,30.0,-13.5,33,272,0.00,1.10,0.00,0.000,260,0.000,0.045,1756,2374,3176,3176,4095,0,0,0,0,0,0,26.46,26.03,26.46,10.46,51.61
$GC,352,-1.82,-585.0,1755,2374,3177,4095,40.9,-12.2,45,361,0.00,1.08,0.00,0.000,1030,0.000,0.030,1756,1945,3178,3178,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.42,49.92
$GC,401,-1.82,-585.0,1755,1945,3179,4095,47.1,-12.9,51,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1945,3179,3179,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.41,49.76
$GC,450,-1.82,-585.0,1756,1945,3180,4095,53.8,-14.1,57,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1945,3181,3181,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.41,49.17
$STATE,495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,495,begin apogee
$GC,506,-0.45,0.0,1756,2144,3182,4095,60.7,-14.0,63,550,4.60,0.00,33.47,1.326,10244,0.052,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.15,25.19,24.13,10.40,48.50
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,556,1.82,585.0,2186,2144,2484,4094,64.5,0.0,68,601,7.60,0.00,33.33,1.290,11270,0.029,0.000,2903,2144,1802,1802,4094,0,0,0,0,0,0,25.49,25.66,23.72,10.26,47.75
$GC,641,1.82,585.0,2903,2144,1801,4094,57.5,13.0,78,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1801,1801,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.11,46.69
$GC,690,1.82,585.0,2902,2144,1800,4094,50.8,13.6,84,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1799,1799,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.10,46.69
$GC,739,1.82,585.0,2902,2143,1798,4094,44.0,13.9,90,749,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1711,1797,1797,4094,0,0,0,0,0,0,25.86,25.48,25.87,10.09,47.48
$GC,827,1.82,585.0,2903,1710,1795,4094,31.9,13.0,102,836,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2124,1795,1795,4094,0,0,0,0,0,0,25.79,25.75,25.81,10.09,47.51
$GC,875,1.82,585.0,2903,2124,1794,4094,26.5,11.0,108,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1794,1794,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.09,48.22
$GC,923,1.82,585.0,2903,2124,1792,4094,21.1,11.6,114,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1792,1792,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.11,48.58
$GC,970,1.82,585.0,2903,2124,1791,4094,15.3,12.4,120,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1790,1790,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.15,49.68
$GC,1017,1.82,585.0,2903,2124,1789,4094,10.2,10.9,126,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2124,1789,1789,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.16,51.41
$GC,1065,1.82,585.0,2902,2124,1788,4094,5.1,10.6,132,1074,0.00,1.08,0.00,0.000,516,0.000,0.047,2903,1718,1787,1787,4094,0,0,0,0,0,0,26.34,25.91,26.35,10.18,52.32
$STATE,1095,end climb,FINISH_DEPTH_REACHED
$STATE,1096,begin subsurface finish
$FINISH1,1.3,1.024216,96
$GC,1109,0.14,96.5,2903,2152,1787,4094,1.3,10.6,136,1128,5.22,1.23,-5.25,0.000,20996,0.022,1.246,2389,1718,2375,2375,4094,0,0,0,0,0,0,26.08,24.34,26.14,10.19,52.28
$FINISH2,0.2
$STATE,1129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,110226
$TT8_MAMPS,0.025466,0.24717
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.72,53.375
$10V_AH,10.14,50.872
$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,23.725,11.025,66.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.373,0.000,118.466,579.907,105.103,0.000,350.986,0.000,338.211,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1251.540,1325.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.680,374.965,296.695,439.848,576.463,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330592
$DATA_FILE_SIZE,14413,138
$CAP_FILE_SIZE,25229,0
$CFSIZE,1024409600,928284672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,122207,6041.802,-17345.084,9,1.1,54,7.0,0.4,354.3,8,3.0