version: 66.13
glider: 401
mission: 22
dive: 1819
start: 8 27 117 21 40 24
data:
$ID,401
$MISSION,22
$DIVE,1819
$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,21
$R_STBD_OVSHOOT,35
$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
$GPS1,270817,212932,6048.8760,-17348.0293,5,0.7,30,7.0,1.0,8.4,11,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-39.1
$GPS2,270817,213946,6048.9287,-17347.9492,7,0.9,19,7.0,0.0,42.5,9,4.9
$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,158.3,44853,-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,-585.0,230,1966,1786,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.086,0.000,714,1967,1786,1786,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.26,51.02
$GC,24,-1.82,-585.0,712,1966,1786,4094,0.7,0.0,1,54,11.18,1.25,-12.77,0.000,18948,0.047,1.242,1753,1517,3172,3172,4094,0,0,0,0,0,0,25.89,24.10,25.96,10.26,51.14
$GC,71,-1.82,-585.0,1752,1517,3171,4094,-0.0,0.4,8,78,0.00,1.02,0.00,0.000,1030,0.000,0.024,1753,1972,3172,3172,4095,0,0,0,0,0,0,25.97,25.96,25.98,10.56,51.26
$GC,112,-1.82,-585.0,1752,1980,3172,4095,-0.0,0.1,14,119,0.00,0.98,0.00,0.000,260,0.000,0.039,1753,2352,3171,3171,4095,0,0,0,0,0,0,26.24,25.87,26.25,10.57,51.57
$GC,130,-1.82,-585.0,1752,2351,3172,4095,0.8,-2.7,16,137,0.00,0.98,0.00,0.000,1030,0.000,0.035,1753,1974,3172,3172,4095,0,0,0,0,0,0,25.95,25.91,25.98,10.57,50.90
$GC,171,-1.82,-585.0,1752,1972,3173,4095,6.9,-15.3,22,178,0.00,1.02,0.00,0.000,260,0.000,0.045,1753,2352,3173,3173,4094,0,0,0,0,0,0,26.30,25.90,26.31,10.56,50.35
$GC,187,-1.82,-585.0,1752,2351,3173,4094,9.6,-16.4,24,194,0.00,0.93,0.00,0.000,1030,0.000,0.026,1752,1975,3174,3174,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.57,50.94
$GC,228,-1.82,-585.0,1752,1975,3175,4094,16.7,-17.7,30,235,0.00,1.12,0.00,0.000,516,0.000,0.047,1753,1529,3175,3175,4094,0,0,0,0,0,0,26.35,25.94,26.36,10.57,50.11
$GC,469,-1.82,-585.0,1752,1528,3181,4094,50.1,-13.1,69,476,0.00,1.08,0.00,0.000,1030,0.000,0.026,1753,1980,3181,3181,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.46,48.03
$GC,510,-1.82,-585.0,1752,1980,3182,4095,55.5,-13.0,75,516,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1980,3182,3182,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.45,47.40
$STATE,539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,539,begin apogee
$GC,551,-0.45,0.0,1753,2146,3183,4094,60.1,-13.5,80,592,4.65,0.00,33.35,1.310,10244,0.051,0.000,2186,2147,2483,2483,4094,0,0,0,0,0,0,26.13,25.19,24.14,10.44,47.44
$STATE,593,end apogee,CONTROL_FINISHED_OK
$STATE,593,begin climb
$GC,598,1.82,585.0,2185,2146,2483,4094,63.3,0.0,87,645,7.60,0.00,33.12,1.274,11270,0.029,0.000,2903,2147,1802,1802,4094,0,0,0,0,0,0,25.49,25.65,23.77,10.29,46.96
$GC,680,1.82,585.0,2902,2146,1801,4094,56.0,13.0,100,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2147,1801,1801,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.14,45.31
$GC,720,1.82,585.0,2902,2146,1800,4094,50.5,13.6,106,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2147,1800,1800,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.13,46.10
$GC,760,1.82,585.0,2902,2146,1798,4094,45.0,13.2,112,766,0.00,1.15,0.00,0.000,516,0.000,0.043,2903,1717,1798,1798,4094,0,0,0,0,0,0,25.82,25.46,25.83,10.12,45.82
$GC,861,1.82,585.0,2902,1717,1795,4094,31.6,13.1,128,867,0.00,1.00,0.00,0.000,1030,0.000,0.029,2903,2123,1795,1795,4094,0,0,0,0,0,0,25.79,25.76,25.82,10.14,46.92
$GC,902,1.82,585.0,2902,2123,1794,4094,26.3,13.3,134,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1794,1794,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.15,47.55
$GC,942,1.82,585.0,2902,2123,1793,4094,21.1,12.8,140,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1793,1793,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.17,48.42
$GC,982,1.82,585.0,2902,2123,1791,4094,16.4,11.4,146,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1791,1791,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.19,50.43
$GC,1024,1.82,585.0,2902,2123,1790,4094,11.6,11.2,152,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1790,1790,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.20,50.86
$GC,1064,1.86,616.5,2902,2123,1789,4094,7.3,10.1,158,1072,0.10,0.00,2.97,0.271,10246,0.074,0.000,2924,2123,1763,1763,4094,0,0,0,0,0,0,26.11,25.54,24.65,10.21,51.49
$GC,1107,1.89,631.7,2923,2124,1762,4094,3.1,10.3,164,1114,0.00,1.08,2.55,0.176,8708,0.000,0.044,2924,1714,1746,1746,4094,0,0,0,0,0,0,26.34,25.65,24.73,10.20,52.24
$STATE,1120,end climb,FINISH_DEPTH_REACHED
$STATE,1120,begin subsurface finish
$FINISH1,1.0,1.024241,95
$GC,1133,0.14,94.7,2924,2132,1746,4094,1.0,11.4,166,1146,5.45,0.00,-5.60,0.000,20998,0.021,0.000,2387,2134,2379,2379,4094,0,0,0,0,0,0,26.07,24.49,26.12,10.21,51.92
$FINISH2,0.1
$STATE,1147,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1147,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,270817,202114
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.55
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.77,52.191
$10V_AH,10.26,49.991
$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,34.575,13.050,72.000,0.000,0.000,24.756,18.648,309.723,0.000,0.000,20.615,443.655,248.702,165.632,573.164,338.694,0.000,356.956,0.000,254.135,0.000,0.543,0.000
$DEVICE_MAMPS,85.680,1241.595,1309.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329272
$DATA_FILE_SIZE,10820,168
$CAP_FILE_SIZE,35604,0
$CFSIZE,1024409600,930086912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,986.54,0x2138e4,1,24
$GPS,270817,213946,6048.929,-17347.949,7,0.9,19,7.0,0.0,42.5,9,4.9