version: 66.13
glider: 401
mission: 22
dive: 1889
start: 8 29 117 2 26 46
data:
$ID,401
$MISSION,22
$DIVE,1889
$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,25
$R_STBD_OVSHOOT,33
$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
$GPS1,290817,020501,6037.7139,-17341.9551,3,0.8,15,7.1,0.0,222.3,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.6
$GPS2,290817,020501,6037.7139,-17341.9551,3,0.8,15,7.1,0.0,222.3,11,4.8
$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,158.3,23372,-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,-585.0,2390,1962,2370,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.019,0.000,1831,1963,2370,2370,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.35,52.79
$GC,23,-1.82,-585.0,1830,1963,2370,4094,0.3,0.0,1,37,0.50,1.17,-7.45,0.000,20740,0.037,1.241,1774,2369,3171,3171,4095,0,0,0,0,0,0,26.10,24.27,26.13,10.34,52.32
$GC,193,-1.82,-585.0,1773,2368,3175,4095,22.6,-12.6,28,200,0.00,1.05,0.00,0.000,1030,0.000,0.031,1774,1947,3175,3175,4095,0,0,0,0,0,0,26.13,26.09,26.15,10.50,52.36
$GC,234,-1.82,-585.0,1773,1947,3175,4095,27.4,-11.3,34,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1947,3176,3176,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,52.04
$GC,275,-1.82,-585.0,1773,1947,3177,4095,32.0,-11.9,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1947,3176,3176,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.45,51.49
$GC,315,-1.82,-585.0,1773,1947,3177,4094,36.9,-12.2,46,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1947,3178,3178,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.44,50.63
$GC,355,-1.82,-585.0,1773,1947,3179,4094,41.8,-11.7,52,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1947,3180,3180,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.42,49.37
$GC,395,-1.82,-585.0,1773,1947,3179,4095,46.5,-11.9,58,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1947,3179,3179,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.42,49.80
$GC,435,-1.82,-585.0,1773,1947,3180,4095,51.5,-12.5,64,442,0.00,1.12,0.00,0.000,260,0.000,0.045,1774,2371,3181,3181,4095,0,0,0,0,0,0,26.55,26.12,26.57,10.41,49.29
$STATE,501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,501,begin apogee
$GC,513,-0.45,0.0,1774,2110,3183,4095,60.5,-13.2,75,555,4.40,0.00,33.45,1.333,10244,0.051,0.000,2186,2107,2484,2484,4095,0,0,0,0,0,0,26.16,25.19,24.11,10.40,48.89
$STATE,556,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,561,1.82,585.0,2185,2106,2484,4095,63.9,0.0,82,608,7.65,0.00,33.22,1.290,11270,0.030,0.000,2903,2107,1803,1803,4094,0,0,0,0,0,0,25.50,25.66,23.72,10.26,48.62
$GC,643,1.82,585.0,2902,2106,1802,4094,57.2,12.0,95,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1802,1802,4094,0,0,0,0,0,0,25.46,25.46,25.46,10.10,46.96
$GC,683,1.82,585.0,2902,2106,1801,4094,52.1,13.1,101,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1801,1801,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.11,47.00
$GC,723,1.82,585.0,2902,2106,1800,4094,46.8,12.7,107,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1800,1800,4094,0,0,0,0,0,0,25.81,25.82,25.82,10.10,47.40
$GC,763,1.82,585.0,2903,2106,1798,4094,41.4,13.7,113,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1798,1798,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.09,47.67
$GC,804,1.82,585.0,2903,2106,1796,4094,35.9,13.7,119,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1797,1797,4095,0,0,0,0,0,0,26.01,26.02,26.02,10.09,47.91
$GC,844,1.82,585.0,2902,2106,1796,4095,30.5,13.2,125,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2106,1795,1795,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.08,48.26
$GC,884,1.82,585.0,2903,2106,1794,4094,25.2,12.9,131,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1794,1794,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.09,48.77
$GC,924,1.82,585.0,2902,2106,1793,4094,20.0,13.0,137,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1793,1793,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.08,48.89
$GC,964,1.82,585.0,2902,2106,1792,4094,15.1,11.7,143,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1792,1792,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.12,49.13
$GC,1004,1.82,585.0,2902,2106,1791,4094,10.7,10.8,149,1011,0.00,0.95,0.00,0.000,516,0.000,0.046,2903,1738,1790,1790,4094,0,0,0,0,0,0,26.29,25.88,26.29,10.15,51.06
$STATE,1083,end climb,FINISH_DEPTH_REACHED
$STATE,1083,begin subsurface finish
$FINISH1,1.6,1.024127,103
$GC,1096,0.15,102.6,2903,2142,1788,4095,1.6,10.0,162,1109,5.20,0.00,-5.12,0.000,20486,0.020,0.000,2389,2143,2369,2369,4095,0,0,0,0,0,0,26.09,24.45,26.14,10.17,53.07
$FINISH2,0.2
$STATE,1110,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,004551
$TT8_MAMPS,0.024717,0.104111
$HUMID,53.78
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.72,54.449
$10V_AH,10.36,51.657
$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,23.350,6.500,66.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,420.265,253.801,148.992,238.439,112.043,0.000,327.185,0.000,247.032,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1240.830,1332.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330600
$DATA_FILE_SIZE,10863,164
$CAP_FILE_SIZE,26831,0
$CFSIZE,1024409600,926662656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,020501,6037.714,-17341.955,3,0.8,15,7.1,0.0,222.3,11,4.8