version: 66.13
glider: 401
mission: 22
dive: 1897
start: 8 29 117 5 49 42
data:
$ID,401
$MISSION,22
$DIVE,1897
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,290817,053714,6034.9141,-17341.2344,4,0.8,50,7.1,0.0,207.7,9,7.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-35.9
$GPS2,290817,054859,6034.8643,-17341.2812,8,0.8,14,7.1,0.0,0.0,10,5.0
$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,156.0,18125,-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,-585.0,236,1951,1733,4091,0.0,0.0,0,18,5.57,0.00,0.00,0.000,2049,0.102,0.000,699,1951,1733,1733,4095,0,0,0,0,0,0,26.22,28.83,28.83,10.26,51.18
$GC,23,-1.82,-585.0,698,1951,1733,4095,0.8,0.0,1,54,11.30,1.20,-13.15,0.000,18948,0.043,1.247,1753,1521,3170,3170,4095,0,0,0,0,0,0,25.90,24.02,25.96,10.27,51.49
$GC,235,-1.82,-585.0,1752,1521,3175,4095,25.7,-12.4,35,241,0.00,1.02,0.00,0.000,1030,0.000,0.025,1753,1960,3175,3175,4095,0,0,0,0,0,0,26.10,26.08,26.12,10.50,50.63
$GC,276,-1.82,-585.0,1752,1959,3177,4095,30.9,-13.0,41,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1959,3177,3177,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.49,49.29
$GC,316,-1.82,-585.0,1752,1959,3177,4095,36.3,-13.1,47,323,0.00,1.08,0.00,0.000,260,0.000,0.045,1753,2370,3178,3178,4094,0,0,0,0,0,0,26.41,25.99,26.43,10.47,48.93
$GC,411,-1.82,-585.0,1752,2370,3180,4094,49.2,-13.7,62,418,0.00,1.02,0.00,0.000,1030,0.000,0.028,1753,1958,3180,3180,4095,0,0,0,0,0,0,26.16,26.13,26.20,10.45,47.51
$GC,452,-1.82,-585.0,1753,1958,3181,4095,54.9,-13.8,68,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1958,3181,3181,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.44,47.28
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,499,-0.45,0.0,1753,2141,3182,4095,60.3,-13.7,74,541,4.65,0.00,33.58,1.311,10244,0.051,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.08,25.14,24.06,10.44,46.81
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,542,begin climb
$GC,547,1.82,585.0,2185,2141,2484,4094,63.6,0.0,81,595,7.60,1.10,33.30,1.277,10500,0.028,0.049,2906,2552,1802,1802,4094,0,0,0,0,0,0,25.37,25.32,23.69,10.29,46.41
$GC,612,1.82,585.0,2906,2552,1802,4094,58.7,12.1,91,618,0.00,1.08,0.00,0.000,1030,0.000,0.024,2906,2131,1801,1801,4094,0,0,0,0,0,0,25.12,25.09,25.14,10.14,45.74
$GC,653,1.82,585.0,2906,2131,1800,4094,53.1,14.0,97,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2131,1800,1800,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.13,45.74
$GC,693,1.82,585.0,2906,2131,1799,4094,47.7,13.1,103,700,0.00,1.08,0.00,0.000,516,0.000,0.044,2906,1719,1798,1798,4094,0,0,0,0,0,0,25.74,25.37,25.75,10.13,45.78
$GC,800,1.82,585.0,2906,1719,1795,4094,33.9,12.3,120,807,0.00,0.98,0.00,0.000,1030,0.000,0.029,2906,2117,1795,1795,4094,0,0,0,0,0,0,25.75,25.72,25.78,10.12,47.04
$GC,841,1.82,585.0,2906,2117,1794,4094,29.0,11.9,126,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2117,1794,1794,4094,0,0,0,0,0,0,26.10,26.10,26.10,10.12,47.48
$GC,881,1.82,585.0,2906,2117,1793,4094,23.9,12.9,132,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2117,1793,1793,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.11,47.87
$GC,922,1.82,585.0,2905,2116,1791,4094,18.9,12.8,138,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2117,1791,1791,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.12,47.79
$GC,962,1.84,600.4,2906,2117,1790,4094,14.7,10.3,144,969,0.00,0.00,2.25,0.118,8198,0.000,0.000,2906,2117,1782,1782,4095,0,0,0,0,0,0,26.25,25.37,24.39,10.16,48.89
$GC,1003,1.91,648.5,2906,2117,1782,4095,10.6,9.9,150,1011,0.20,0.00,4.25,0.438,10246,0.046,0.000,2937,2117,1726,1726,4094,0,0,0,0,0,0,26.08,25.53,24.65,10.18,50.31
$GC,1045,1.91,648.5,2936,2117,1726,4094,6.0,10.9,156,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2117,1725,1725,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.18,51.73
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1081,begin subsurface finish
$FINISH1,1.9,1.024125,103
$GC,1093,0.15,102.8,2936,2116,1724,4094,1.9,9.7,162,1107,5.82,0.00,-5.15,0.000,20486,0.047,0.000,2393,2118,2373,2373,4094,0,0,0,0,0,0,25.98,24.46,26.04,10.18,52.44
$FINISH2,0.5
$STATE,1108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,054115
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.99
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.69,54.719
$10V_AH,10.23,51.852
$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,35.150,9.000,73.375,0.000,0.000,55.880,56.078,284.946,0.000,0.000,15.766,427.762,300.015,154.642,602.704,339.979,0.000,337.260,0.000,248.475,0.000,0.542,0.000
$DEVICE_MAMPS,101.745,1246.950,1311.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.624,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329288
$DATA_FILE_SIZE,10792,164
$CAP_FILE_SIZE,32624,0
$CFSIZE,1024409600,926269440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,290817,054859,6034.864,-17341.281,8,0.8,14,7.1,0.0,0.0,10,5.0