version: 66.13
glider: 401
mission: 22
dive: 1859
start: 8 28 117 13 55 46
data:
$ID,401
$MISSION,22
$DIVE,1859
$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,20
$R_STBD_OVSHOOT,56
$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
$GPS1,280817,133445,6041.0640,-17344.6250,8,0.7,15,7.0,0.0,334.1,12,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-1.7
$GPS2,280817,133445,6041.0640,-17344.6250,8,0.7,15,7.0,0.0,334.1,12,5.0
$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,156.9,30002,-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,-585.0,2386,1989,2374,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.026,0.000,1841,1989,2374,2374,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.34,52.83
$GC,24,-1.82,-585.0,1840,1989,2374,4094,0.1,0.0,1,37,0.60,1.33,-7.40,0.000,20996,0.040,1.252,1777,1516,3173,3173,4095,0,0,0,0,0,0,26.03,24.25,26.06,10.34,52.24
$GC,200,-1.82,-585.0,1777,1516,3177,4095,21.8,-15.7,29,207,0.00,0.98,0.00,0.000,1030,0.000,0.027,1777,1936,3177,3177,4095,0,0,0,0,0,0,26.17,26.15,26.19,10.51,52.36
$GC,241,-1.82,-585.0,1776,1936,3178,4095,27.5,-13.7,35,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1936,3178,3178,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.48,52.04
$GC,281,-1.82,-585.0,1776,1938,3179,4095,33.0,-13.7,41,288,0.00,1.12,0.00,0.000,260,0.000,0.044,1777,2368,3179,3179,4094,0,0,0,0,0,0,26.47,26.05,26.48,10.46,51.53
$GC,376,-1.82,-585.0,1776,2367,3180,4094,44.8,-11.7,56,383,0.00,1.08,0.00,0.000,1030,0.000,0.030,1777,1936,3181,3181,4095,0,0,0,0,0,0,26.20,26.16,26.23,10.43,50.15
$GC,417,-1.82,-585.0,1776,1935,3182,4095,49.6,-11.8,62,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1935,3182,3182,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.42,49.52
$GC,457,-1.82,-585.0,1776,1935,3183,4095,54.6,-12.8,68,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1936,3183,3183,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.41,49.29
$GC,497,-1.82,-585.0,1776,1936,3183,4094,59.7,-13.0,74,503,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1936,3183,3183,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.41,49.25
$STATE,508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,508,begin apogee
$GC,520,-0.45,0.0,1777,2136,3184,4094,61.7,-12.6,76,561,4.38,0.00,33.55,1.339,10244,0.050,0.000,2187,2136,2484,2484,4094,0,0,0,0,0,0,26.16,25.18,24.13,10.40,48.58
$STATE,562,end apogee,CONTROL_FINISHED_OK
$STATE,562,begin climb
$GC,567,1.82,585.0,2187,2136,2484,4094,64.8,0.0,83,614,7.57,0.00,33.25,1.294,11270,0.029,0.000,2901,2136,1801,1801,4094,0,0,0,0,0,0,25.48,25.65,23.71,10.26,47.87
$GC,649,1.82,585.0,2901,2136,1800,4094,57.7,13.0,96,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1800,1800,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.11,47.12
$GC,690,1.82,585.0,2901,2136,1798,4094,52.2,13.8,102,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1798,1798,4094,0,0,0,0,0,0,25.65,25.66,25.66,10.11,46.81
$GC,730,1.82,585.0,2901,2136,1797,4094,46.8,13.3,108,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1797,1797,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.10,47.40
$GC,770,1.82,585.0,2901,2136,1796,4094,41.3,13.7,114,776,0.00,1.12,0.00,0.000,516,0.000,0.044,2901,1716,1796,1796,4094,0,0,0,0,0,0,25.91,25.53,25.91,10.09,47.71
$GC,859,1.82,585.0,2901,1715,1793,4094,29.2,12.9,128,865,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2132,1793,1793,4094,0,0,0,0,0,0,25.82,25.78,25.83,10.10,48.30
$GC,900,1.82,585.0,2901,2131,1792,4094,24.2,12.2,134,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1792,1792,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.10,49.21
$GC,940,1.82,585.0,2901,2131,1790,4094,19.2,12.1,140,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2132,1790,1790,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.12,49.92
$GC,980,1.82,585.0,2901,2131,1789,4094,14.5,11.4,146,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2132,1789,1789,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.15,50.94
$GC,1020,1.82,585.0,2901,2132,1788,4094,10.1,11.2,152,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2132,1788,1788,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.17,51.77
$GC,1060,1.98,695.1,2901,2131,1787,4094,6.1,9.2,158,1073,0.50,0.00,6.75,0.536,10246,0.031,0.000,2959,2132,1672,1672,4094,0,0,0,0,0,0,26.08,25.60,24.79,10.17,52.36
$STATE,1097,end climb,FINISH_DEPTH_REACHED
$STATE,1097,begin subsurface finish
$FINISH1,1.6,1.024201,97
$GC,1109,0.15,97.5,2959,2131,1671,4094,1.6,10.2,164,1127,5.82,0.00,-6.18,0.000,20486,0.023,0.000,2388,2132,2375,2375,4094,0,0,0,0,0,0,26.01,25.35,26.06,10.16,52.67
$FINISH2,0.2
$STATE,1128,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,121556
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.38
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.71,53.471
$10V_AH,10.36,50.932
$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,24.475,7.750,73.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,424.814,256.134,156.125,242.687,111.123,0.000,338.338,0.000,251.135,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1252.305,1338.750,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330664
$DATA_FILE_SIZE,10850,167
$CAP_FILE_SIZE,27717,0
$CFSIZE,1024409600,928137216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,133445,6041.064,-17344.625,8,0.7,15,7.0,0.0,334.1,12,5.0