version: 66.13
glider: 401
mission: 22
dive: 1834
start: 8 28 117 3 46 11
data:
$ID,401
$MISSION,22
$DIVE,1834
$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,27
$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
$GPS1,280817,033629,6045.2729,-17345.9355,8,0.8,13,7.0,0.3,259.4,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-36.6
$GPS2,280817,034533,6045.2407,-17346.0859,6,1.0,18,7.0,0.0,219.0,9,4.7
$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,158.2,37814,-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,-585.0,237,1944,1786,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.091,0.000,957,1944,1786,1786,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,52.52
$GC,27,-1.82,-585.0,957,1944,1786,4094,0.9,0.0,1,55,8.50,1.17,-12.88,0.000,18948,0.044,1.255,1752,1528,3172,3172,4095,0,0,0,0,0,0,25.88,24.10,25.96,10.26,52.16
$GC,208,-1.82,-585.0,1751,1527,3177,4095,22.3,-16.7,26,217,0.00,1.00,0.00,0.000,1030,0.000,0.026,1752,1956,3177,3177,4095,0,0,0,0,0,0,26.10,26.06,26.11,10.56,51.18
$GC,258,-1.82,-585.0,1751,1956,3177,4095,29.5,-14.9,32,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1956,3178,3178,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.51,50.59
$GC,306,-1.82,-585.0,1751,1957,3179,4094,36.4,-14.4,38,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1957,3179,3179,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.49,50.43
$GC,354,-1.82,-585.0,1751,1956,3181,4094,43.0,-13.3,44,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1957,3181,3181,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.47,49.13
$GC,402,-1.82,-585.0,1751,1957,3181,4095,49.2,-13.2,50,411,0.00,1.10,0.00,0.000,260,0.000,0.046,1752,2376,3181,3181,4095,0,0,0,0,0,0,26.48,26.05,26.49,10.45,47.99
$GC,476,-1.82,-585.0,1751,2375,3183,4095,59.4,-13.7,60,485,0.00,1.05,0.00,0.000,1030,0.000,0.028,1753,1957,3184,3184,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.43,47.51
$STATE,493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,493,begin apogee
$GC,504,-0.45,0.0,1752,2140,3183,4094,62.5,-13.9,62,548,4.62,0.00,33.75,1.340,10244,0.052,0.000,2184,2140,2483,2483,4095,0,0,0,0,0,0,26.11,24.84,24.08,10.43,47.79
$STATE,549,end apogee,CONTROL_FINISHED_OK
$STATE,549,begin climb
$GC,554,1.82,585.0,2184,2140,2483,4095,66.2,0.0,67,599,7.65,0.00,33.40,1.304,11270,0.030,0.000,2904,2140,1801,1801,4094,0,0,0,0,0,0,25.46,25.63,23.72,10.28,47.28
$GC,639,1.82,585.0,2904,2139,1800,4094,59.2,12.9,77,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2140,1800,1800,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.13,45.51
$GC,688,1.82,585.0,2903,2140,1799,4094,52.8,13.1,83,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1798,1798,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.12,45.47
$GC,737,1.82,585.0,2904,2139,1797,4094,46.3,13.2,89,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1797,1797,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.11,45.74
$GC,786,1.82,585.0,2904,2139,1795,4094,39.5,13.7,95,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1795,1795,4094,0,0,0,0,0,0,25.98,25.99,25.99,10.11,46.49
$GC,835,1.82,585.0,2904,2140,1794,4094,32.5,13.9,101,844,0.00,1.15,0.00,0.000,516,0.000,0.043,2905,1702,1794,1794,4094,0,0,0,0,0,0,26.08,25.70,26.09,10.11,47.32
$GC,950,1.82,585.0,2904,1701,1790,4094,17.5,11.7,117,959,0.00,1.02,0.00,0.000,1030,0.000,0.029,2904,2122,1790,1790,4094,0,0,0,0,0,0,25.96,25.93,25.98,10.17,49.09
$GC,999,1.82,585.0,2904,2121,1788,4094,11.9,10.9,123,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1788,1788,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.18,50.94
$GC,1048,1.82,585.0,2903,2121,1787,4094,6.6,10.7,129,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2122,1787,1787,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.19,51.37
$STATE,1084,end climb,FINISH_DEPTH_REACHED
$STATE,1084,begin subsurface finish
$FINISH1,1.9,1.024247,94
$GC,1096,0.14,94.3,2904,2121,1785,4094,1.9,10.9,134,1115,5.30,1.15,-5.28,0.000,20996,0.029,1.244,2386,1707,2376,2376,4094,0,0,0,0,0,0,26.10,24.36,26.15,10.21,51.85
$FINISH2,0.2
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1116,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,022743
$TT8_MAMPS,0.025466,0.249417
$HUMID,51.89
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.72,52.669
$10V_AH,10.10,50.354
$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,34.550,8.100,67.150,0.000,0.000,25.805,15.390,253.968,0.000,0.000,20.077,393.635,0.000,122.393,837.277,316.801,0.000,359.602,0.000,333.542,0.000,0.542,0.000
$DEVICE_MAMPS,91.035,1255.365,1340.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.083,369.558,292.370,433.637,565.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,14412,136
$CAP_FILE_SIZE,28319,0
$CFSIZE,1024409600,929366016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280817,034533,6045.241,-17346.086,6,1.0,18,7.0,0.0,219.0,9,4.7