version: 66.13
glider: 401
mission: 22
dive: 1885
start: 8 29 117 0 53 24
data:
$ID,401
$MISSION,22
$DIVE,1885
$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,19
$R_STBD_OVSHOOT,41
$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
$GPS1,290817,004155,6038.3682,-17342.9512,4,0.8,34,7.1,0.0,331.9,11,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-37.2
$GPS2,290817,005245,6038.4126,-17342.8691,3,1.2,48,7.1,0.4,39.6,8,3.0
$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,157.2,24840,-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,-585.0,231,1972,1785,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.083,0.000,714,1973,1786,1786,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,51.61
$GC,23,-1.82,-585.0,714,1972,1785,4094,0.8,0.0,1,54,11.05,1.23,-12.70,0.000,18948,0.038,1.246,1752,1516,3169,3169,4095,0,0,0,0,0,0,25.91,24.18,25.98,10.26,51.41
$GC,240,-1.82,-585.0,1752,1516,3174,4095,28.2,-13.6,36,247,0.00,1.00,0.00,0.000,1030,0.000,0.025,1753,1947,3174,3174,4095,0,0,0,0,0,0,26.12,26.09,26.13,10.50,50.78
$GC,282,-1.82,-585.0,1751,1946,3176,4095,33.8,-14.4,42,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3175,3175,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.48,49.84
$GC,322,-1.82,-585.0,1752,1947,3176,4094,39.5,-14.0,48,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3176,3176,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.47,48.42
$GC,362,-1.82,-585.0,1752,1947,3177,4095,45.1,-14.0,54,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3177,3177,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.45,48.14
$GC,402,-1.82,-585.0,1752,1946,3178,4095,50.5,-13.1,60,409,0.00,1.10,0.00,0.000,260,0.000,0.047,1753,2370,3178,3178,4095,0,0,0,0,0,0,26.48,26.03,26.49,10.44,47.36
$STATE,468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,468,begin apogee
$GC,480,-0.45,0.0,1753,2102,3180,4095,60.7,-15.4,71,522,4.65,0.05,33.38,1.322,10244,0.051,0.148,2185,2133,2484,2484,4094,0,0,0,0,0,0,26.09,25.15,24.07,10.43,47.36
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,529,1.82,585.0,2185,2133,2484,4094,63.9,0.0,78,576,7.65,0.00,33.15,1.287,11270,0.030,0.000,2905,2133,1802,1802,4095,0,0,0,0,0,0,25.46,25.63,23.70,10.29,46.49
$GC,610,1.82,585.0,2904,2133,1801,4095,57.2,12.1,91,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2134,1802,1802,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.13,45.62
$GC,651,1.82,585.0,2904,2133,1800,4094,51.9,13.4,97,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2134,1800,1800,4095,0,0,0,0,0,0,25.65,25.66,25.66,10.13,46.29
$GC,691,1.82,585.0,2904,2133,1799,4095,46.6,13.4,103,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2134,1799,1799,4095,0,0,0,0,0,0,25.79,25.81,25.81,10.11,46.02
$GC,731,1.82,585.0,2904,2133,1797,4095,41.2,13.1,109,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2134,1797,1797,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.12,46.53
$GC,771,1.82,585.0,2904,2133,1796,4094,35.7,13.5,115,778,0.00,1.05,0.00,0.000,516,0.000,0.043,2905,1736,1796,1796,4094,0,0,0,0,0,0,26.00,25.63,26.01,10.12,46.53
$GC,860,1.82,585.0,2904,1736,1793,4094,23.3,14.3,129,867,0.00,1.00,0.00,0.000,1030,0.000,0.031,2905,2141,1793,1793,4094,0,0,0,0,0,0,25.88,25.83,25.89,10.11,47.20
$GC,901,1.82,585.0,2904,2141,1792,4094,18.0,12.3,135,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2141,1792,1792,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,47.83
$GC,941,1.82,585.0,2905,2142,1790,4094,13.3,11.2,141,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2142,1790,1790,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.17,49.56
$GC,981,1.82,585.0,2905,2141,1789,4094,9.0,10.9,147,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2142,1789,1789,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,51.61
$GC,1021,1.82,585.0,2904,2141,1788,4094,4.7,10.6,153,1028,0.00,1.05,0.00,0.000,516,0.000,0.044,2905,1740,1788,1788,4094,0,0,0,0,0,0,26.34,25.92,26.34,10.19,52.32
$STATE,1046,end climb,FINISH_DEPTH_REACHED
$STATE,1046,begin subsurface finish
$FINISH1,1.6,1.024145,101
$GC,1059,0.15,101.4,2904,2147,1787,4094,1.6,10.5,157,1078,5.25,1.12,-5.15,0.000,20996,0.020,1.239,2388,1735,2372,2372,4094,0,0,0,0,0,0,26.08,24.18,26.13,10.20,52.24
$FINISH2,0.2
$STATE,1079,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1080,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,233332
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.59
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.70,54.330
$10V_AH,10.24,51.566
$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,34.200,9.200,66.525,0.000,0.000,22.098,25.127,313.502,0.000,0.000,50.067,414.432,243.840,157.910,588.600,333.396,0.000,338.525,0.000,242.868,0.000,0.542,0.000
$DEVICE_MAMPS,83.385,1246.185,1321.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,10782,160
$CAP_FILE_SIZE,30728,0
$CFSIZE,1024409600,926859264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,005245,6038.413,-17342.869,3,1.2,48,7.1,0.4,39.6,8,3.0