version: 66.13
glider: 401
mission: 22
dive: 1872
start: 8 28 117 19 18 14
data:
$ID,401
$MISSION,22
$DIVE,1872
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,280817,183611,6038.4375,-17346.0898,10,0.9,19,7.0,0.6,267.3,10,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.4
$GPS2,280817,183611,6038.4375,-17346.0898,10,0.9,19,7.0,0.6,267.3,10,4.7
$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,151.0,25835,-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,-585.0,2391,1952,2375,4092,0.0,0.0,0,22,6.28,0.00,-2.17,0.000,20482,0.019,0.000,1768,1952,2613,2613,4095,0,0,0,0,0,0,26.19,28.83,26.22,10.33,53.74
$GC,27,-1.82,-585.0,1768,1951,2613,4095,0.4,0.0,1,37,0.00,1.23,-5.25,0.000,16900,0.000,1.264,1768,1519,3173,3173,4095,0,0,0,0,0,0,26.42,24.27,26.43,10.38,53.74
$GC,223,-1.82,-585.0,1767,1518,3178,4095,27.0,-13.3,29,232,0.00,1.02,0.00,0.000,1030,0.000,0.028,1768,1954,3178,3178,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.46,53.18
$GC,273,-1.82,-585.0,1767,1954,3179,4095,33.2,-13.2,35,282,0.00,1.08,0.00,0.000,260,0.000,0.046,1767,2366,3179,3179,4094,0,0,0,0,0,0,26.52,26.08,26.53,10.44,51.92
$GC,355,-1.82,-585.0,1767,2365,3181,4094,43.3,-12.2,46,365,0.00,1.02,0.00,0.000,1030,0.000,0.031,1768,1953,3181,3181,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.42,51.10
$GC,405,-1.82,-585.0,1767,1952,3182,4095,49.5,-12.7,52,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1954,3182,3182,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.41,50.31
$GC,454,-1.82,-585.0,1767,1953,3183,4095,55.8,-13.1,58,463,0.00,1.08,0.00,0.000,516,0.000,0.051,1768,1525,3183,3183,4095,0,0,0,0,0,0,26.59,26.15,26.60,10.40,49.40
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,497,-0.45,0.0,1767,2130,3184,4094,60.6,-13.2,62,542,4.47,0.00,33.65,1.322,10244,0.051,0.000,2186,2130,2485,2485,4095,0,0,0,0,0,0,26.17,24.90,24.14,10.40,49.40
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,547,1.82,585.0,2185,2129,2484,4095,64.2,0.0,67,592,7.65,0.00,33.38,1.291,11270,0.030,0.000,2903,2130,1802,1802,4094,0,0,0,0,0,0,25.52,25.70,23.72,10.25,48.81
$GC,632,1.82,585.0,2902,2129,1801,4094,57.3,13.0,77,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1800,1800,4094,0,0,0,0,0,0,25.48,25.49,25.48,10.10,47.40
$GC,681,1.82,585.0,2903,2129,1799,4094,50.5,14.0,83,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1798,1798,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.09,47.12
$GC,730,1.82,585.0,2903,2129,1797,4094,43.5,14.3,89,740,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1710,1797,1797,4094,0,0,0,0,0,0,25.86,25.48,25.87,10.09,47.55
$GC,946,1.82,586.4,2903,1709,1790,4094,15.1,10.5,120,955,0.00,1.05,0.00,0.000,1030,0.000,0.030,2903,2137,1790,1790,4094,0,0,0,0,0,0,25.95,25.92,25.98,10.14,50.55
$GC,996,1.82,586.5,2903,2137,1789,4094,10.2,10.5,126,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2137,1788,1788,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.16,51.77
$GC,1045,1.82,586.5,2903,2136,1787,4094,4.3,11.8,132,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2137,1787,1787,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.17,52.04
$STATE,1061,end climb,SURFACE_DEPTH_REACHED
$STATE,1061,begin surface coast
$FINISH,0.8,1.024201
$STATE,1076,end surface coast,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$SM_CCo,1182,0.00,0.000,0,0,1786,600.16
$SM_GC,0.95,27.65,0.47,0.00,0.018,0.039,0.000,238,1947,1786,-6.55,1.46,600.16,0,0,0,0,0,0,26.12,26.06,26.15
$IRIDIUM_FIX,5952.82,-17420.78,280817,171800
$TT8_MAMPS,0.025466,0.250915
$HUMID,53.22
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.72,53.890
$10V_AH,10.13,51.253
$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,46.050,10.125,67.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,392.465,60.505,124.659,568.569,105.272,0.000,327.894,0.000,331.073,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,1263.780,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.988,369.478,292.410,433.540,567.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330648
$DATA_FILE_SIZE,14432,136
$CAP_FILE_SIZE,23825,0
$CFSIZE,1024409600,927498240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,193901,6038.330,-17346.125,6,0.9,22,7.0,0.7,343.8,9,4.6