version: 66.13
glider: 401
mission: 22
dive: 1864
start: 8 28 117 16 10 19
data:
$ID,401
$MISSION,22
$DIVE,1864
$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,28
$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
$GPS1,280817,155837,6039.4692,-17344.8770,8,1.0,20,7.0,0.5,224.9,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-34.2
$GPS2,280817,160941,6039.4287,-17344.9570,7,0.9,22,7.0,0.0,239.4,10,4.9
$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,154.5,27200,-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,-585.0,229,1949,1784,4092,0.0,0.0,0,21,8.50,0.00,0.00,0.000,2049,0.081,0.000,963,1947,1785,1785,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.25,51.92
$GC,27,-1.82,-585.0,963,1947,1784,4094,0.9,0.0,1,55,8.40,1.23,-12.77,0.000,18948,0.039,1.259,1754,1523,3167,3167,4095,0,0,0,0,0,0,25.89,23.77,25.96,10.26,51.41
$GC,202,-1.82,-585.0,1753,1524,3172,4095,22.8,-15.8,25,211,0.00,1.02,0.00,0.000,1030,0.000,0.024,1754,1965,3171,3171,4095,0,0,0,0,0,0,26.08,26.04,26.10,10.52,50.94
$GC,250,-1.82,-585.0,1753,1964,3173,4095,28.9,-13.1,31,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1965,3173,3173,4095,0,0,0,0,0,0,26.37,26.39,26.38,10.49,50.59
$GC,298,-1.82,-585.0,1753,1964,3174,4095,35.9,-14.8,37,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1965,3174,3174,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.47,49.09
$GC,346,-1.82,-585.0,1753,1965,3175,4094,42.8,-14.0,43,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1965,3175,3175,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.46,48.77
$GC,393,-1.82,-585.0,1753,1965,3177,4095,49.4,-14.3,49,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1965,3177,3177,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.44,47.63
$GC,441,-1.82,-585.0,1753,1965,3178,4095,55.8,-13.3,55,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1965,3178,3178,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.44,47.12
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,481,-0.45,0.0,1754,2134,3179,4095,60.4,-13.7,59,525,4.62,0.00,33.47,1.326,10244,0.054,0.000,2185,2134,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,24.07,10.42,46.85
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,531,1.82,585.0,2185,2134,2484,4094,64.2,0.0,64,575,7.65,0.00,33.33,1.283,11270,0.029,0.000,2904,2135,1802,1802,4094,0,0,0,0,0,0,25.46,25.63,23.70,10.28,46.25
$GC,616,1.82,585.0,2904,2134,1801,4094,57.2,12.9,74,624,0.00,1.15,0.00,0.000,516,0.000,0.044,2905,1712,1800,1800,4094,0,0,0,0,0,0,25.46,25.13,25.47,10.13,45.31
$GC,715,1.82,585.0,2904,1711,1797,4094,43.2,13.5,88,724,0.00,1.02,0.00,0.000,1030,0.000,0.029,2905,2123,1796,1796,4094,0,0,0,0,0,0,25.59,25.56,25.61,10.11,46.37
$GC,763,1.82,585.0,2904,2123,1795,4094,36.7,13.4,94,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2123,1795,1795,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.11,46.65
$GC,811,1.82,585.0,2904,2123,1794,4094,30.4,12.9,100,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2123,1794,1794,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.11,46.69
$GC,857,1.82,585.0,2904,2123,1792,4094,24.3,13.0,106,866,0.00,1.10,0.00,0.000,516,0.000,0.044,2905,1708,1792,1792,4094,0,0,0,0,0,0,26.15,25.74,26.15,10.11,47.87
$GC,925,1.82,585.0,2904,1707,1790,4094,15.8,11.6,115,934,0.00,1.02,0.00,0.000,1030,0.000,0.028,2905,2130,1790,1790,4094,0,0,0,0,0,0,25.99,25.92,25.98,10.14,48.30
$GC,973,1.82,585.0,2904,2130,1789,4094,10.6,11.1,121,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2130,1788,1788,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.17,49.84
$GC,1021,1.89,634.5,2904,2130,1787,4094,5.7,9.9,127,1031,0.15,0.00,3.85,0.371,10246,0.054,0.000,2930,2131,1741,1741,4094,0,0,0,0,0,0,26.11,25.24,24.70,10.19,50.78
$STATE,1052,end climb,FINISH_DEPTH_REACHED
$STATE,1052,begin subsurface finish
$FINISH1,1.6,1.024196,98
$GC,1064,0.15,97.8,2930,2130,1740,4094,1.6,11.7,131,1082,5.53,1.17,-5.62,0.000,20996,0.023,1.255,2387,1711,2375,2375,4094,0,0,0,0,0,0,26.06,24.30,26.11,10.18,51.22
$FINISH2,0.2
$STATE,1083,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1083,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,160228
$TT8_MAMPS,0.025466,0.244174
$HUMID,51.96
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.70,53.646
$10V_AH,10.10,51.068
$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,34.850,8.125,70.650,0.000,0.000,48.506,51.123,259.480,0.000,0.000,23.729,373.311,44.562,122.724,894.451,321.497,0.000,356.239,0.000,327.949,0.000,0.542,0.000
$DEVICE_MAMPS,81.090,1259.190,1325.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.075,361.352,285.948,423.788,551.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,14239,133
$CAP_FILE_SIZE,29563,0
$CFSIZE,1024409600,927891456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280817,160941,6039.429,-17344.957,7,0.9,22,7.0,0.0,239.4,10,4.9