version: 66.13
glider: 401
mission: 22
dive: 1874
start: 8 28 117 20 13 18
data:
$ID,401
$MISSION,22
$DIVE,1874
$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,24
$R_STBD_OVSHOOT,33
$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
$GPS1,280817,195042,6038.3892,-17346.2656,10,0.8,15,7.0,0.0,308.0,10,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-4.4
$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,11,-1.82,-585.0,2386,1952,2374,4092,0.0,0.0,0,21,6.38,0.00,-1.15,0.000,20482,0.021,0.000,1762,1953,2501,2501,4095,0,0,0,0,0,0,26.05,28.83,26.11,10.34,53.22
$GC,26,-1.82,-585.0,1761,1952,2501,4095,0.3,0.0,1,44,0.00,1.23,-6.25,0.000,16900,0.000,1.258,1762,1521,3170,3170,4094,0,0,0,0,0,0,26.35,24.25,26.36,10.38,53.50
$GC,128,-1.82,-585.0,1762,1520,3172,4094,10.0,-14.5,15,137,0.00,1.02,0.00,0.000,1030,0.000,0.027,1762,1950,3172,3172,4095,0,0,0,0,0,0,26.00,25.96,26.00,10.52,53.22
$GC,177,-1.82,-585.0,1762,1950,3173,4095,16.8,-14.3,21,187,0.00,1.08,0.00,0.000,260,0.000,0.047,1762,2363,3173,3173,4094,0,0,0,0,0,0,26.30,25.89,26.32,10.53,53.07
$GC,206,-1.82,-585.0,1762,2363,3173,4094,20.1,-10.9,24,215,0.00,1.05,0.00,0.000,1030,0.000,0.031,1763,1949,3174,3174,4095,0,0,0,0,0,0,26.06,25.99,26.06,10.52,52.59
$GC,255,-1.82,-585.0,1762,1949,3175,4095,25.5,-11.0,30,264,0.00,1.10,0.00,0.000,516,0.000,0.054,1762,1521,3175,3175,4094,0,0,0,0,0,0,26.36,25.92,26.38,10.50,52.32
$GC,329,-1.82,-585.0,1762,1521,3176,4094,33.6,-10.8,40,338,0.00,0.90,0.00,0.000,1030,0.000,0.026,1762,1934,3176,3176,4095,0,0,0,0,0,0,26.19,26.18,26.22,10.46,51.69
$GC,377,-1.82,-585.0,1762,1933,3177,4095,38.7,-10.5,46,387,0.00,1.05,0.00,0.000,260,0.000,0.040,1762,2341,3177,3177,4094,0,0,0,0,0,0,26.45,26.06,26.46,10.44,50.31
$GC,445,-1.82,-585.0,1762,2341,3178,4094,45.8,-10.5,55,454,0.00,1.23,0.00,0.000,1030,0.000,0.034,1762,1861,3178,3178,4094,0,0,0,0,0,0,26.15,26.11,26.17,10.42,49.72
$GC,494,-1.82,-585.0,1762,1860,3179,4094,50.9,-10.6,61,503,0.00,0.88,0.00,0.000,516,0.000,0.059,1762,1520,3179,3179,4095,0,0,0,0,0,0,26.51,26.06,26.52,10.41,48.70
$STATE,576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,576,begin apogee
$GC,589,-0.45,0.0,1762,2106,3181,4095,60.6,-11.3,73,632,4.47,0.00,33.55,1.330,10244,0.044,0.000,2187,2107,2484,2484,4094,0,0,0,0,0,0,26.19,25.17,24.10,10.41,48.22
$STATE,633,end apogee,CONTROL_FINISHED_OK
$STATE,633,begin climb
$GC,639,1.82,585.0,2187,2106,2485,4094,65.7,0.0,78,685,7.57,1.05,33.55,1.318,10756,0.028,0.043,2905,1706,1802,1802,4094,0,0,0,0,0,0,25.44,25.36,23.68,10.26,47.51
$GC,871,1.82,585.0,2904,1706,1797,4094,44.9,11.5,110,880,0.00,1.08,0.00,0.000,1030,0.000,0.027,2905,2143,1796,1796,4094,0,0,0,0,0,0,25.71,25.67,25.76,10.10,47.75
$GC,920,1.82,585.0,2904,2142,1796,4094,39.7,10.7,116,930,0.00,1.12,0.00,0.000,260,0.000,0.051,2905,2559,1795,1795,4094,0,0,0,0,0,0,26.08,25.66,26.08,10.10,48.66
$GC,970,1.82,585.0,2904,2559,1794,4094,34.2,11.2,122,980,0.00,0.98,0.00,0.000,1030,0.000,0.026,2905,2162,1794,1794,4094,0,0,0,0,0,0,25.91,25.88,25.92,10.09,48.26
$GC,1020,1.82,585.0,2904,2162,1793,4094,28.7,10.9,128,1030,0.00,1.12,0.00,0.000,516,0.000,0.047,2905,1727,1793,1793,4094,0,0,0,0,0,0,26.21,25.79,26.22,10.09,48.42
$GC,1070,1.85,610.5,2904,1727,1792,4094,23.6,10.2,134,1080,0.00,1.25,2.80,0.290,9222,0.000,0.030,2905,2225,1771,1771,4094,0,0,0,0,0,0,25.96,25.92,24.44,10.11,49.48
$GC,1121,1.93,662.6,2905,2225,1770,4094,18.6,9.9,140,1130,0.30,0.00,4.47,0.504,10246,0.038,0.000,2941,2225,1710,1710,4094,0,0,0,0,0,0,26.06,25.56,24.63,10.14,50.15
$GC,1171,2.01,715.3,2940,2225,1710,4094,13.9,9.9,146,1182,0.17,1.33,4.55,0.477,10756,0.051,0.043,2971,1725,1649,1649,4094,0,0,0,0,0,0,26.07,25.65,24.68,10.15,51.02
$STATE,1269,end climb,FINISH_DEPTH_REACHED
$STATE,1269,begin subsurface finish
$FINISH1,2.0,1.024187,98
$GC,1286,0.15,98.5,2971,2134,1646,4094,2.0,12.1,160,1304,5.97,0.00,-6.43,0.000,20998,0.023,0.000,2387,2143,2376,2376,4095,0,0,0,0,0,0,26.08,24.47,26.13,10.16,52.99
$FINISH2,0.1
$STATE,1305,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1305,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,183038
$TT8_MAMPS,0.026215,0.247919
$HUMID,53.50
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.68,53.965
$10V_AH,10.13,51.309
$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,24.875,20.400,78.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,454.724,1.355,124.743,670.429,116.147,0.000,369.868,0.000,391.596,0.000,0.544,0.000
$DEVICE_MAMPS,51.255,1258.425,1330.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.454,440.110,348.388,516.135,669.175,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,17752,162
$CAP_FILE_SIZE,29943,0
$CFSIZE,1024409600,927383552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,195042,6038.389,-17346.266,10,0.8,15,7.0,0.0,308.0,10,4.7