version: 66.13
glider: 401
mission: 22
dive: 1886
start: 8 29 117 1 13 23
data:
$ID,401
$MISSION,22
$DIVE,1886
$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,53
$R_STBD_OVSHOOT,45
$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
$GPS1,290817,005245,6038.4126,-17342.8691,3,1.2,48,7.1,0.4,39.6,8,3.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-3.3
$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,-585.0,2388,1971,2372,4092,0.0,0.0,0,21,6.43,0.00,-2.03,0.000,20482,0.022,0.000,1759,1971,2592,2592,4094,0,0,0,0,0,0,26.06,28.83,26.12,10.34,52.99
$GC,27,-1.82,-585.0,1759,1971,2592,4094,0.2,0.0,1,36,0.00,0.00,-5.40,0.000,16646,0.000,0.000,1759,1971,3172,3172,4095,0,0,0,0,0,0,26.34,24.51,26.35,10.38,53.30
$GC,74,-1.82,-585.0,1758,1971,3173,4095,3.8,-14.0,7,83,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1971,3173,3173,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.52,53.26
$GC,121,-1.82,-585.0,1758,1971,3174,4094,12.1,-17.7,13,130,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1971,3174,3174,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.52,53.62
$GC,169,-1.82,-585.0,1758,1971,3175,4094,19.5,-15.1,19,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1971,3175,3175,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.51,52.59
$GC,215,-1.82,-585.0,1758,1971,3176,4094,25.6,-12.5,25,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1971,3177,3177,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.47,52.00
$GC,263,-1.82,-585.0,1758,1971,3178,4094,31.8,-13.1,31,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1971,3178,3178,4095,0,0,0,0,0,0,26.48,26.48,26.49,10.45,50.78
$GC,310,-1.82,-585.0,1758,1971,3179,4095,38.1,-13.0,37,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1971,3179,3179,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.43,49.96
$GC,357,-1.82,-585.0,1758,1971,3180,4094,44.4,-13.2,43,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1971,3180,3180,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,49.25
$GC,405,-1.82,-585.0,1758,1971,3181,4095,50.7,-13.6,49,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1971,3181,3181,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.42,49.25
$GC,452,-1.82,-585.0,1758,1971,3182,4095,57.0,-13.4,55,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1972,3183,3183,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.41,48.54
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,488,-0.45,0.0,1758,2132,3183,4095,60.9,-14.1,58,532,4.60,0.00,33.65,1.330,10246,0.053,0.000,2186,2132,2484,2484,4094,0,0,0,0,0,0,26.15,24.89,24.13,10.41,48.74
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,538,1.82,585.0,2186,2131,2484,4094,64.9,0.0,63,584,7.62,0.00,33.38,1.297,10758,0.030,0.000,2903,2132,1802,1802,4094,0,0,0,0,0,0,25.50,24.68,23.72,10.26,47.67
$GC,624,1.82,585.0,2902,2131,1801,4094,57.9,12.9,73,632,0.00,1.08,0.00,0.000,516,0.000,0.045,2903,1736,1801,1801,4094,0,0,0,0,0,0,25.48,25.16,25.49,10.11,46.73
$GC,691,1.82,585.0,2902,1736,1799,4094,48.8,13.7,82,701,0.00,0.95,0.00,0.000,1030,0.000,0.030,2903,2120,1798,1798,4094,0,0,0,0,0,0,25.53,25.48,25.55,10.10,46.77
$GC,739,1.82,585.0,2902,2120,1797,4094,42.5,13.3,88,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1798,1798,4094,0,0,0,0,0,0,25.91,25.93,25.92,10.09,47.16
$GC,787,1.82,585.0,2902,2120,1796,4094,35.9,14.0,94,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1796,1796,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.09,47.28
$GC,834,1.82,585.0,2902,2120,1794,4094,29.3,14.0,100,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1794,1794,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.09,48.26
$GC,882,1.82,585.0,2902,2120,1793,4094,22.8,13.6,106,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1792,1792,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.09,47.95
$GC,928,1.82,585.0,2902,2120,1791,4094,17.1,12.5,112,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1791,1791,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.12,48.50
$GC,974,1.82,585.0,2902,2120,1789,4094,11.8,11.0,118,984,0.00,1.00,0.00,0.000,516,0.000,0.046,2903,1740,1789,1789,4094,0,0,0,0,0,0,26.28,25.86,26.29,10.16,50.27
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.8,1.024143,102
$GC,1083,0.15,101.5,2903,2142,1786,4094,1.8,10.4,132,1102,5.25,1.15,-5.15,0.000,20996,0.024,1.250,2389,1737,2367,2367,4094,0,0,0,0,0,0,26.10,24.34,26.15,10.19,52.48
$FINISH2,0.1
$STATE,1103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1104,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,233332
$TT8_MAMPS,0.025466,0.246421
$HUMID,53.15
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.72,54.355
$10V_AH,10.12,51.596
$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,23.900,6.100,67.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,369.090,0.000,125.517,557.851,114.107,0.000,361.980,0.000,326.178,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1250.010,1329.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.694,364.030,288.195,427.053,555.617,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,14310,134
$CAP_FILE_SIZE,25443,0
$CFSIZE,1024409600,926810112
$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