version: 66.13
glider: 401
mission: 22
dive: 1867
start: 8 28 117 17 24 44
data:
$ID,401
$MISSION,22
$DIVE,1867
$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,22
$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
$GPS1,280817,171228,6038.8643,-17345.4590,9,0.7,18,7.0,0.4,260.1,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-26.9
$GPS2,280817,172402,6038.8320,-17345.5703,6,0.8,29,7.0,0.2,241.8,11,4.6
$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,152.6,26345,-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,-585.0,237,1952,1683,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.083,0.000,721,1952,1682,1682,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.23,51.89
$GC,24,-1.82,-585.0,721,1952,1683,4094,0.5,0.0,1,55,11.12,1.23,-13.68,0.000,18948,0.048,1.258,1751,1524,3170,3170,4095,0,0,0,0,0,0,25.86,24.06,25.94,10.24,52.20
$GC,200,-1.82,-585.0,1750,1524,3175,4095,18.3,-14.8,29,206,0.00,1.02,0.00,0.000,1030,0.000,0.026,1751,1961,3174,3174,4095,0,0,0,0,0,0,26.07,26.05,26.10,10.55,51.26
$GC,241,-1.82,-585.0,1750,1961,3175,4095,23.8,-13.6,35,247,0.00,1.08,0.00,0.000,260,0.000,0.045,1751,2371,3175,3175,4095,0,0,0,0,0,0,26.37,25.94,26.38,10.51,50.47
$GC,360,-1.82,-585.0,1751,2371,3178,4095,39.0,-12.8,54,366,0.00,1.00,0.00,0.000,1030,0.000,0.028,1751,1971,3179,3179,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.46,48.54
$GC,400,-1.82,-585.0,1751,1971,3179,4095,44.2,-12.9,60,407,0.00,1.15,0.00,0.000,516,0.000,0.049,1751,1519,3179,3179,4095,0,0,0,0,0,0,26.47,26.02,26.48,10.45,48.22
$GC,483,-1.82,-585.0,1750,1518,3181,4095,55.2,-13.4,73,490,0.00,1.02,0.00,0.000,1030,0.000,0.026,1751,1958,3181,3181,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.43,47.44
$STATE,519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,519,begin apogee
$GC,531,-0.45,0.0,1750,2140,3182,4095,60.6,-13.0,79,573,4.65,0.00,33.35,1.317,10244,0.052,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.10,25.15,24.09,10.42,48.03
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,579,1.82,585.0,2185,2140,2484,4094,63.7,0.0,86,626,7.62,0.00,33.22,1.278,11270,0.029,0.000,2904,2141,1802,1802,4094,0,0,0,0,0,0,25.46,25.63,23.71,10.28,46.85
$GC,660,1.82,585.0,2903,2140,1800,4094,56.3,13.4,99,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2141,1801,1801,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.13,45.74
$GC,700,1.82,585.0,2903,2140,1799,4094,50.7,14.1,105,707,0.00,1.15,0.00,0.000,516,0.000,0.044,2904,1709,1799,1799,4094,0,0,0,0,0,0,25.65,25.29,25.66,10.12,45.90
$GC,849,1.82,585.0,2904,1709,1794,4094,30.8,12.6,129,856,0.00,1.00,0.00,0.000,1030,0.000,0.029,2904,2117,1794,1794,4094,0,0,0,0,0,0,25.79,25.75,25.81,10.10,47.91
$GC,890,1.82,585.0,2904,2116,1794,4094,25.7,12.2,135,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2116,1793,1793,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.11,48.18
$GC,931,1.82,585.0,2904,2116,1792,4094,20.9,11.9,141,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2116,1792,1792,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.11,47.95
$GC,971,1.82,585.0,2904,2116,1790,4094,16.4,10.9,147,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2117,1790,1790,4094,0,0,0,0,0,0,26.23,26.24,26.24,10.12,48.81
$GC,1011,1.98,694.3,2903,2115,1789,4094,12.5,9.2,153,1024,0.47,0.00,6.88,0.597,10246,0.031,0.000,2959,2117,1673,1673,4094,0,0,0,0,0,0,26.02,25.56,24.70,10.15,49.56
$GC,1058,1.98,694.3,2959,2116,1672,4094,7.2,12.0,160,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2117,1672,1672,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,51.77
$GC,1098,1.98,694.3,2958,2116,1671,4094,2.5,11.7,166,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2116,1670,1670,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,52.20
$STATE,1109,end climb,FINISH_DEPTH_REACHED
$STATE,1109,begin subsurface finish
$FINISH1,0.8,1.024203,97
$GC,1121,0.15,97.4,2960,2116,1670,4094,0.8,10.9,168,1141,5.85,1.12,-6.12,0.000,20996,0.021,1.257,2383,1714,2375,2375,4094,0,0,0,0,0,0,26.05,24.27,26.09,10.17,52.59
$FINISH2,0.1
$STATE,1142,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1142,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,171624
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.99
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.71,53.746
$10V_AH,10.24,51.130
$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,35.325,10.200,73.450,0.000,0.000,50.942,46.140,278.671,0.000,0.000,31.080,438.656,314.403,157.991,605.226,331.181,0.000,343.810,0.000,258.441,0.000,0.543,0.000
$DEVICE_MAMPS,83.385,1258.425,1316.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,114.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329284
$DATA_FILE_SIZE,14324,171
$CAP_FILE_SIZE,31742,0
$CFSIZE,1024409600,927744000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280817,172402,6038.832,-17345.570,6,0.8,29,7.0,0.2,241.8,11,4.6