version: 66.13
glider: 401
mission: 22
dive: 1891
start: 8 29 117 3 19 53
data:
$ID,401
$MISSION,22
$DIVE,1891
$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,43
$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
$GPS1,290817,030813,6036.8325,-17341.4590,4,0.8,16,7.1,0.2,224.1,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-38.4
$GPS2,290817,031914,6036.7617,-17341.4473,9,0.9,50,7.1,0.3,179.1,10,4.8
$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,158.3,21549,-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,-585.0,230,1923,1765,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.093,0.000,704,1924,1764,1764,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.25,51.49
$GC,23,-1.82,-585.0,703,1923,1764,4094,0.7,0.0,1,54,11.27,1.08,-13.02,0.000,18948,0.044,1.251,1753,1537,3171,3171,4094,0,0,0,0,0,0,25.92,24.03,25.98,10.25,52.00
$GC,229,-1.82,-585.0,1752,1537,3176,4094,26.6,-14.3,34,235,0.00,0.98,0.00,0.000,1030,0.000,0.026,1753,1956,3176,3176,4095,0,0,0,0,0,0,26.10,26.08,26.13,10.50,50.15
$GC,270,-1.82,-585.0,1752,1955,3177,4095,32.0,-13.6,40,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1956,3177,3177,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.47,49.72
$GC,310,-1.82,-585.0,1753,1955,3178,4095,37.4,-13.1,46,317,0.00,1.08,0.00,0.000,260,0.000,0.045,1753,2367,3178,3178,4095,0,0,0,0,0,0,26.42,25.99,26.43,10.46,49.17
$GC,405,-1.82,-585.0,1753,2367,3180,4095,50.4,-14.1,61,412,0.00,0.98,0.00,0.000,1030,0.000,0.028,1753,1977,3180,3180,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.43,48.11
$GC,446,-1.82,-585.0,1753,1977,3181,4095,56.1,-13.6,67,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1977,3181,3181,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.43,47.40
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,487,-0.45,0.0,1754,2142,3182,4094,60.8,-13.9,72,528,4.65,0.00,33.58,1.326,10244,0.051,0.000,2185,2142,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,24.06,10.42,47.51
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,534,1.82,585.0,2185,2142,2484,4094,64.3,0.0,79,582,7.68,0.00,33.40,1.289,11270,0.030,0.000,2904,2142,1801,1801,4094,0,0,0,0,0,0,25.46,25.61,23.68,10.28,46.85
$GC,616,1.82,585.0,2904,2142,1800,4094,57.3,12.4,92,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2142,1800,1800,4094,0,0,0,0,0,0,25.44,25.44,25.44,10.13,45.70
$GC,657,1.82,585.0,2904,2142,1799,4094,52.1,13.2,98,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2142,1799,1799,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.12,45.94
$GC,697,1.82,585.0,2904,2142,1798,4094,46.8,12.9,104,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2142,1797,1797,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.12,46.10
$GC,737,1.82,585.0,2904,2142,1796,4094,41.3,13.6,110,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2142,1796,1796,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.11,46.45
$GC,777,1.82,585.0,2904,2142,1795,4094,35.7,13.8,116,784,0.00,1.15,0.00,0.000,516,0.000,0.043,2905,1708,1795,1795,4094,0,0,0,0,0,0,25.99,25.60,26.01,10.11,46.61
$GC,848,1.82,585.0,2904,1708,1793,4094,26.4,13.0,127,855,0.00,1.00,0.00,0.000,1030,0.000,0.028,2904,2118,1793,1793,4094,0,0,0,0,0,0,25.85,25.82,25.87,10.10,47.67
$GC,889,1.82,585.0,2904,2118,1791,4094,21.2,12.7,133,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1791,1791,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.11,48.03
$GC,930,1.82,585.0,2904,2118,1789,4094,16.3,12.3,139,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1790,1790,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.13,48.70
$GC,970,1.82,585.1,2904,2118,1789,4094,12.0,10.5,145,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2118,1788,1788,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,50.59
$GC,1010,1.87,624.3,2904,2118,1788,4094,7.8,10.0,151,1018,0.10,0.00,3.28,0.321,10246,0.073,0.000,2925,2118,1755,1755,4094,0,0,0,0,0,0,26.11,25.51,24.60,10.18,52.00
$GC,1053,1.94,664.5,2925,2118,1754,4094,3.4,10.0,157,1061,0.10,1.08,3.85,0.366,10756,0.072,0.046,2944,1709,1708,1708,4094,0,0,0,0,0,0,26.13,25.65,24.72,10.18,52.08
$STATE,1066,end climb,FINISH_DEPTH_REACHED
$STATE,1066,begin subsurface finish
$FINISH1,1.3,1.024125,103
$GC,1079,0.15,102.8,2943,2142,1707,4094,1.3,10.3,159,1099,5.68,1.23,-5.80,0.000,20996,0.023,1.244,2392,1705,2370,2370,4094,0,0,0,0,0,0,26.03,24.30,26.08,10.18,52.52
$FINISH2,0.2
$STATE,1100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,015922
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.07
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.68,54.523
$10V_AH,10.23,51.708
$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,35.100,10.050,74.100,0.000,0.000,23.522,26.475,321.242,0.000,0.000,51.436,422.695,243.833,162.654,601.738,338.559,0.000,346.886,0.000,245.664,0.000,0.542,0.000
$DEVICE_MAMPS,93.330,1250.775,1325.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329276
$DATA_FILE_SIZE,10818,162
$CAP_FILE_SIZE,32700,0
$CFSIZE,1024409600,926564352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290817,031914,6036.762,-17341.447,9,0.9,50,7.1,0.3,179.1,10,4.8