version: 66.13
glider: 401
mission: 22
dive: 1876
start: 8 28 117 21 10 1
data:
$ID,401
$MISSION,22
$DIVE,1876
$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,25
$R_STBD_OVSHOOT,38
$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
$GPS1,280817,205758,6038.6060,-17346.0801,5,0.8,14,7.0,0.0,347.7,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-34.4
$GPS2,280817,210923,6038.7139,-17346.1309,2,0.9,12,7.0,0.0,345.8,9,5.0
$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,151.4,26324,-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,6,begin dive
$GC,11,-1.82,-585.0,230,1968,1716,4092,0.0,0.0,0,21,8.45,0.00,0.00,0.000,2049,0.088,0.000,949,1969,1716,1716,4094,0,0,0,0,0,0,26.17,28.83,28.83,10.25,52.08
$GC,27,-1.82,-585.0,948,1968,1716,4094,0.7,0.0,1,54,8.70,1.25,-13.32,0.000,18948,0.048,1.245,1753,1520,3172,3172,4094,0,0,0,0,0,0,25.85,24.04,25.90,10.25,51.41
$GC,267,-1.82,-585.0,1753,1520,3177,4094,29.3,-12.8,35,275,0.00,1.00,0.00,0.000,1030,0.000,0.025,1753,1949,3177,3177,4095,0,0,0,0,0,0,26.11,26.09,26.13,10.51,50.03
$GC,314,-1.82,-585.0,1752,1949,3178,4095,35.2,-12.4,41,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3179,3179,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.49,49.25
$GC,361,-1.82,-585.0,1752,1949,3179,4094,41.4,-13.1,47,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3180,3180,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.47,48.46
$GC,409,-1.82,-585.0,1752,1949,3180,4094,47.4,-12.5,53,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1949,3181,3181,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.46,47.67
$GC,456,-1.82,-585.0,1753,1950,3182,4095,53.7,-13.3,59,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1950,3182,3182,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.44,47.12
$GC,503,-1.82,-585.0,1752,1949,3183,4095,59.9,-13.1,65,512,0.00,1.10,0.00,0.000,260,0.000,0.044,1753,2371,3183,3183,4095,0,0,0,0,0,0,26.51,26.08,26.53,10.44,46.81
$STATE,520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,520,begin apogee
$GC,531,-0.45,0.0,1753,2110,3183,4095,62.6,-12.7,67,576,4.65,0.00,33.80,1.337,10244,0.052,0.000,2186,2107,2484,2484,4094,0,0,0,0,0,0,26.09,25.13,24.05,10.43,46.65
$STATE,577,end apogee,CONTROL_FINISHED_OK
$STATE,577,begin climb
$GC,582,1.82,585.0,2186,2107,2484,4094,66.2,0.0,72,626,7.65,0.00,33.47,1.305,11270,0.030,0.000,2904,2107,1802,1802,4094,0,0,0,0,0,0,25.46,25.62,23.67,10.29,45.82
$GC,666,1.82,585.0,2903,2107,1800,4094,59.1,13.4,82,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2107,1800,1800,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.13,45.23
$GC,715,1.82,585.0,2903,2107,1798,4094,52.2,14.2,88,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2107,1798,1798,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.13,44.99
$GC,764,1.82,585.0,2903,2107,1797,4094,45.2,14.3,94,773,0.00,0.98,0.00,0.000,516,0.000,0.045,2904,1734,1796,1796,4094,0,0,0,0,0,0,25.84,25.48,25.86,10.12,45.51
$GC,897,1.82,585.0,2903,1734,1792,4094,26.8,13.2,113,906,0.00,0.98,0.00,0.000,1030,0.000,0.029,2904,2131,1792,1792,4094,0,0,0,0,0,0,25.84,25.82,25.87,10.11,47.20
$GC,945,1.82,585.0,2903,2131,1791,4094,20.8,12.1,119,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2131,1791,1791,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.14,47.28
$GC,993,1.82,586.6,2903,2131,1790,4094,15.5,10.5,125,1001,0.00,1.02,0.00,0.000,516,0.000,0.044,2904,1741,1789,1789,4094,0,0,0,0,0,0,26.25,25.83,26.26,10.16,48.93
$GC,1120,1.89,636.6,2903,1740,1786,4094,2.6,9.9,143,1130,0.20,0.93,3.78,0.343,11270,0.034,0.031,2932,2119,1739,1739,4094,0,0,0,0,0,0,26.06,26.02,24.74,10.20,51.37
$STATE,1138,end climb,FINISH_DEPTH_REACHED
$STATE,1138,begin subsurface finish
$FINISH1,0.2,1.024168,100
$GC,1150,0.15,99.8,2932,2123,1739,4094,0.2,9.6,145,1168,5.55,0.00,-5.55,0.000,20486,0.023,0.000,2390,2128,2370,2370,4094,0,0,0,0,0,0,26.03,25.40,26.10,10.20,51.92
$FINISH2,0.2
$STATE,1169,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1169,begin surface
$IRIDIUM_FIX,6144.56,-16801.30,280817,194506
$TT8_MAMPS,0.025466,0.253162
$HUMID,52.67
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.67,54.042
$10V_AH,10.10,51.361
$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,35.200,7.850,71.050,0.000,0.000,26.015,22.941,382.797,0.000,0.000,17.621,409.379,0.000,119.495,933.836,400.605,0.000,354.970,0.000,359.640,0.000,0.542,0.000
$DEVICE_MAMPS,87.975,1244.655,1337.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.958,399.361,316.033,468.514,609.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,14415,147
$CAP_FILE_SIZE,29831,0
$CFSIZE,1024409600,927301632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,210923,6038.714,-17346.131,2,0.9,12,7.0,0.0,345.8,9,5.0