version: 66.13
glider: 401
mission: 22
dive: 1873
start: 8 28 117 19 51 25
data:
$ID,401
$MISSION,22
$DIVE,1873
$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,31
$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
$GPS1,280817,193901,6038.3296,-17346.1250,6,0.9,22,7.0,0.7,343.8,9,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-34.8
$GPS2,280817,195042,6038.3892,-17346.2656,10,0.8,15,7.0,0.0,308.0,10,4.7
$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,150.6,25813,-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,10,-1.82,-585.0,238,1947,1786,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,2049,0.104,0.000,706,1942,1786,1786,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.25,51.61
$GC,23,-1.82,-585.0,706,1946,1786,4094,0.7,0.0,1,54,11.27,1.15,-12.70,0.000,18948,0.046,1.255,1753,1526,3168,3168,4095,0,0,0,0,0,0,25.87,24.14,25.94,10.26,51.26
$GC,283,-1.82,-585.0,1752,1525,3174,4095,32.6,-12.2,43,289,0.00,1.00,0.00,0.000,1030,0.000,0.024,1753,1959,3174,3174,4094,0,0,0,0,0,0,26.13,26.11,26.15,10.48,50.07
$GC,324,-1.82,-585.0,1753,1958,3175,4094,37.3,-11.6,49,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1958,3175,3175,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.47,48.85
$GC,364,-1.82,-585.0,1753,1958,3175,4095,41.9,-11.3,55,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1958,3176,3176,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.46,48.38
$GC,404,-1.82,-585.0,1752,1958,3177,4095,46.3,-11.0,61,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3177,3177,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.44,48.81
$GC,444,-1.82,-585.0,1752,1958,3177,4095,50.9,-11.4,67,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1958,3177,3177,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.44,47.55
$GC,484,-1.82,-585.0,1752,1958,3178,4095,55.7,-11.7,73,490,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1958,3178,3178,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.43,47.67
$STATE,520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,531,-0.45,0.0,1753,2131,3179,4094,60.5,-12.3,79,573,4.62,0.00,33.33,1.327,10244,0.052,0.000,2185,2131,2483,2483,4095,0,0,0,0,0,0,26.09,25.15,24.07,10.43,47.44
$STATE,574,end apogee,CONTROL_FINISHED_OK
$STATE,574,begin climb
$GC,579,1.82,585.0,2185,2131,2484,4095,63.6,0.0,86,626,7.62,0.00,33.30,1.289,11270,0.029,0.000,2901,2131,1803,1803,4094,0,0,0,0,0,0,25.46,25.62,23.69,10.28,46.73
$GC,661,1.82,585.0,2900,2131,1802,4094,57.1,11.6,99,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2131,1802,1802,4094,0,0,0,0,0,0,25.44,25.45,25.45,10.12,46.53
$GC,701,1.82,585.0,2900,2131,1801,4094,52.2,11.8,105,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1801,1801,4094,0,0,0,0,0,0,25.65,25.65,25.65,10.12,45.90
$GC,741,1.82,585.0,2900,2131,1800,4094,47.5,11.7,111,748,0.00,1.12,0.00,0.000,516,0.000,0.044,2901,1713,1800,1800,4094,0,0,0,0,0,0,25.79,25.42,25.80,10.12,46.06
$GC,878,1.82,585.0,2900,1713,1795,4094,31.1,12.1,133,885,0.00,1.00,0.00,0.000,1030,0.000,0.028,2900,2125,1795,1795,4095,0,0,0,0,0,0,25.84,25.81,25.86,10.11,48.22
$GC,919,1.82,585.0,2900,2124,1794,4095,26.4,11.4,139,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1794,1794,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,48.14
$GC,959,1.82,585.0,2900,2124,1793,4094,21.9,11.2,145,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1793,1793,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,48.93
$GC,1000,1.93,658.3,2900,2124,1792,4094,17.8,9.6,151,1013,0.32,1.08,5.20,0.561,10756,0.036,0.045,2941,1712,1716,1716,4094,0,0,0,0,0,0,26.03,25.63,24.63,10.15,49.33
$GC,1118,2.03,729.2,2940,1712,1713,4094,7.0,9.7,169,1132,0.28,0.98,5.45,0.491,11270,0.028,0.027,2980,2121,1631,1631,4094,0,0,0,0,0,0,26.05,26.02,24.75,10.17,52.28
$STATE,1162,end climb,FINISH_DEPTH_REACHED
$STATE,1162,begin subsurface finish
$FINISH1,1.4,1.024195,98
$GC,1173,0.15,97.9,2979,2122,1629,4094,1.4,10.4,176,1192,6.03,0.00,-6.47,0.000,20486,0.021,0.000,2386,2130,2374,2374,4094,0,0,0,0,0,0,26.04,25.42,26.06,10.16,52.87
$FINISH2,0.2
$STATE,1193,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1193,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,183038
$TT8_MAMPS,0.024717,0.161784
$HUMID,53.42
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.69,53.938
$10V_AH,10.23,51.272
$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,35.800,6.725,77.275,0.000,0.000,55.719,67.978,277.105,0.000,0.000,17.015,454.314,331.280,162.062,623.620,335.907,0.000,353.729,0.000,269.540,0.000,0.542,0.000
$DEVICE_MAMPS,104.040,1254.600,1327.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,119.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329264
$DATA_FILE_SIZE,14352,179
$CAP_FILE_SIZE,32484,0
$CFSIZE,1024409600,927449088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,280817,195042,6038.389,-17346.266,10,0.8,15,7.0,0.0,308.0,10,4.7