version: 66.13
glider: 401
mission: 22
dive: 1861
start: 8 28 117 14 53 37
data:
$ID,401
$MISSION,22
$DIVE,1861
$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,48
$R_STBD_OVSHOOT,53
$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
$GPS1,280817,143743,6040.2339,-17344.6328,8,0.7,17,7.0,0.4,7.7,11,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-38.3
$GPS2,280817,145255,6040.1890,-17344.7090,9,0.8,38,7.0,0.5,174.5,10,4.9
$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,155.8,28471,-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,-585.0,230,1982,1786,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.091,0.000,707,1982,1786,1786,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.26,50.94
$GC,24,-1.82,-585.0,707,1982,1786,4094,0.9,0.0,1,55,11.18,1.20,-12.75,0.000,18948,0.044,1.248,1752,1540,3168,3168,4095,0,0,0,0,0,0,25.89,24.15,25.96,10.27,50.51
$GC,217,-1.82,-585.0,1752,1539,3172,4095,20.9,-14.7,32,224,0.00,0.93,0.00,0.000,1030,0.000,0.025,1752,1940,3172,3172,4095,0,0,0,0,0,0,26.08,26.06,26.10,10.55,50.03
$GC,258,-1.82,-585.0,1752,1940,3173,4095,26.3,-13.3,38,265,0.00,1.10,0.00,0.000,260,0.000,0.044,1753,2361,3173,3173,4095,0,0,0,0,0,0,26.36,25.94,26.38,10.52,49.60
$GC,335,-1.82,-585.0,1752,2360,3175,4095,36.0,-11.9,50,342,0.00,0.93,0.00,0.000,1030,0.000,0.028,1753,1986,3175,3175,4094,0,0,0,0,0,0,26.15,26.13,26.18,10.48,48.74
$GC,376,-1.82,-585.0,1752,1985,3175,4094,41.3,-12.8,56,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1986,3175,3175,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.47,48.58
$GC,417,-1.82,-585.0,1752,1986,3176,4094,46.3,-13.0,62,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1986,3177,3177,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.46,48.03
$GC,457,-1.82,-585.0,1752,1985,3177,4094,51.6,-13.0,68,463,0.00,1.17,0.00,0.000,516,0.000,0.048,1753,1523,3178,3178,4095,0,0,0,0,0,0,26.49,26.03,26.50,10.45,46.81
$STATE,517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,517,begin apogee
$GC,529,-0.45,0.0,1752,2126,3179,4095,60.4,-13.6,78,571,4.62,0.00,33.22,1.320,10244,0.052,0.000,2185,2127,2484,2484,4094,0,0,0,0,0,0,26.09,25.15,24.08,10.43,46.57
$STATE,572,end apogee,CONTROL_FINISHED_OK
$STATE,572,begin climb
$GC,577,1.82,585.0,2185,2126,2484,4094,64.0,0.0,85,624,7.57,0.00,33.30,1.283,11270,0.028,0.000,2901,2127,1800,1800,4095,0,0,0,0,0,0,25.48,25.63,23.72,10.29,46.14
$GC,659,1.82,585.0,2901,2126,1799,4095,57.1,12.3,98,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1799,1799,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.13,45.35
$GC,699,1.82,585.0,2901,2126,1798,4094,51.7,13.6,104,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1798,1798,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.13,45.74
$GC,739,1.82,585.0,2901,2126,1797,4094,46.3,13.3,110,746,0.00,1.10,0.00,0.000,516,0.000,0.043,2902,1715,1795,1795,4094,0,0,0,0,0,0,25.79,25.42,25.81,10.12,45.86
$GC,822,1.82,585.0,2901,1714,1794,4094,35.0,13.4,123,829,0.00,1.05,0.00,0.000,1030,0.000,0.030,2902,2138,1794,1794,4094,0,0,0,0,0,0,25.73,25.69,25.76,10.12,46.53
$GC,863,1.82,585.0,2901,2138,1793,4094,29.5,13.5,129,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1793,1793,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.11,46.92
$GC,903,1.82,585.0,2901,2137,1791,4094,24.5,12.6,135,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1791,1791,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.12,47.51
$GC,943,1.82,585.0,2901,2137,1790,4094,20.0,11.1,141,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1790,1790,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.13,47.63
$GC,984,1.84,602.6,2901,2138,1789,4094,16.0,10.3,147,990,0.00,0.00,2.28,0.128,8198,0.000,0.000,2902,2138,1781,1781,4094,0,0,0,0,0,0,26.25,25.39,24.41,10.15,48.66
$GC,1025,1.92,651.7,2901,2138,1780,4094,11.7,9.9,153,1033,0.28,0.00,4.30,0.450,10246,0.039,0.000,2938,2138,1723,1723,4094,0,0,0,0,0,0,26.06,25.54,24.65,10.18,50.51
$GC,1067,1.92,651.7,2938,2138,1722,4094,7.1,11.0,159,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2138,1722,1722,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.17,51.92
$GC,1107,1.92,651.7,2938,2138,1722,4094,2.3,11.7,165,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2138,1721,1721,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.18,51.85
$STATE,1118,end climb,FINISH_DEPTH_REACHED
$STATE,1118,begin subsurface finish
$FINISH1,0.7,1.024192,98
$GC,1130,0.15,98.1,2938,2140,1721,4094,0.7,10.5,167,1144,5.57,0.00,-5.62,0.000,20486,0.021,0.000,2387,2140,2375,2375,4095,0,0,0,0,0,0,26.06,24.49,26.11,10.19,52.28
$FINISH2,0.2
$STATE,1145,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1145,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,144137
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.36
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.72,53.551
$10V_AH,10.24,50.984
$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,34.825,9.000,73.100,0.000,0.000,83.789,42.971,404.128,0.000,0.000,39.807,439.035,347.577,162.669,758.596,361.438,0.000,352.759,0.000,255.558,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1248.480,1319.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329232
$DATA_FILE_SIZE,14292,169
$CAP_FILE_SIZE,35870,0
$CFSIZE,1024409600,928022528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280817,145255,6040.189,-17344.709,9,0.8,38,7.0,0.5,174.5,10,4.9