version: 66.13
glider: 401
mission: 22
dive: 1817
start: 8 27 117 20 47 58
data:
$ID,401
$MISSION,22
$DIVE,1817
$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,23
$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
$GPS1,270817,202627,6049.0698,-17348.7480,7,0.8,21,7.0,0.3,358.5,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-2.8
$GPS2,270817,202627,6049.0698,-17348.7480,7,0.8,21,7.0,0.3,358.5,10,5.0
$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,157.5,45295,-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,-585.0,2380,1946,2376,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.024,0.000,1829,1946,2376,2376,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.34,51.81
$GC,23,-1.82,-585.0,1829,1946,2376,4094,0.1,0.0,1,36,0.60,0.00,-7.30,0.000,20486,0.032,0.000,1761,1946,3171,3171,4094,0,0,0,0,0,0,26.10,24.55,26.16,10.35,51.69
$GC,70,-1.82,-585.0,1760,1946,3172,4094,4.4,-14.4,8,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3173,3173,4095,0,0,0,0,0,0,26.34,26.35,26.34,10.52,52.00
$GC,110,-1.82,-585.0,1760,1946,3173,4095,11.3,-17.8,14,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3173,3173,4095,0,0,0,0,0,0,26.37,26.38,26.38,10.53,51.65
$GC,150,-1.82,-585.0,1760,1946,3175,4095,18.0,-16.3,20,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3175,3175,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.53,51.53
$GC,190,-1.82,-585.0,1760,1946,3175,4095,24.3,-15.6,26,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3176,3176,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.51,51.22
$GC,230,-1.82,-585.0,1761,1946,3177,4095,29.9,-13.4,32,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3177,3177,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.49,51.02
$GC,270,-1.82,-585.0,1760,1946,3178,4095,35.3,-13.8,38,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3178,3178,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.47,50.43
$GC,310,-1.82,-585.0,1760,1946,3178,4094,40.8,-13.4,44,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3179,3179,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.46,50.35
$GC,350,-1.82,-585.0,1760,1946,3180,4095,46.0,-13.2,50,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3180,3180,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.44,49.33
$GC,390,-1.82,-585.0,1760,1946,3181,4094,51.2,-12.9,56,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3181,3181,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.43,48.93
$GC,430,-1.82,-585.0,1760,1946,3181,4095,56.4,-12.6,62,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1946,3182,3182,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.42,48.70
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,471,-0.45,0.0,1761,2147,3183,4094,60.7,-12.3,67,512,4.53,0.00,33.30,1.311,10246,0.050,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.16,25.20,24.16,10.41,48.46
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,518,1.82,585.0,2185,2146,2484,4094,63.6,0.0,74,565,7.60,0.00,33.15,1.276,10246,0.029,0.000,2903,2147,1800,1800,4094,0,0,0,0,0,0,25.50,24.46,23.77,10.27,47.75
$GC,600,1.82,585.0,2902,2146,1799,4094,56.1,13.2,87,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2147,1799,1799,4094,0,0,0,0,0,0,25.48,25.49,25.48,10.12,46.37
$GC,640,1.82,585.0,2902,2146,1798,4094,50.5,14.3,93,646,0.00,1.17,0.00,0.000,516,0.000,0.043,2903,1709,1798,1798,4094,0,0,0,0,0,0,25.67,25.32,25.69,10.11,46.49
$GC,741,1.82,585.0,2902,1709,1795,4094,36.6,13.4,109,747,0.00,1.05,0.00,0.000,1030,0.000,0.029,2903,2133,1795,1795,4094,0,0,0,0,0,0,25.71,25.67,25.74,10.10,46.88
$GC,782,1.82,585.0,2902,2132,1794,4094,31.5,12.4,115,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1794,1794,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.11,47.51
$GC,821,1.82,585.0,2902,2133,1793,4094,26.0,13.7,121,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1792,1792,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.12,48.22
$GC,861,1.82,585.0,2902,2133,1791,4094,21.0,12.2,127,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1791,1791,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.15,49.40
$GC,902,1.82,585.0,2902,2133,1790,4094,16.3,11.6,133,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1790,1790,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.16,50.39
$GC,942,1.82,585.0,2902,2133,1788,4094,11.9,11.4,139,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1788,1788,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.18,51.26
$GC,982,1.82,585.0,2902,2133,1787,4094,7.3,11.6,145,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1787,1787,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.18,51.81
$GC,1022,2.01,713.8,2903,2133,1786,4094,3.5,8.9,151,1036,0.57,1.10,7.65,0.543,10756,0.029,0.038,2972,1705,1650,1650,4094,0,0,0,0,0,0,26.10,25.72,24.87,10.19,52.83
$STATE,1041,end climb,FINISH_DEPTH_REACHED
$STATE,1041,begin subsurface finish
$FINISH1,1.3,1.024233,95
$GC,1054,0.14,95.3,2972,2144,1649,4094,1.3,8.4,154,1074,6.07,1.17,-6.30,0.000,20996,0.034,1.244,2392,1704,2377,2377,4095,0,0,0,0,0,0,25.94,24.39,25.98,10.17,52.95
$FINISH2,0.1
$STATE,1075,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1075,begin surface
$IRIDIUM_FIX,5953.71,-17808.45,270817,201814
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.54
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.77,52.121
$10V_AH,10.38,49.940
$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,24.975,6.575,74.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,401.065,223.009,167.677,228.931,116.437,0.000,349.879,0.000,236.992,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1243.890,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.169,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330572
$DATA_FILE_SIZE,10827,157
$CAP_FILE_SIZE,28586,0
$CFSIZE,1024409600,930201600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,202627,6049.070,-17348.748,7,0.8,21,7.0,0.3,358.5,10,5.0