version: 66.13
glider: 401
mission: 22
dive: 1899
start: 8 29 117 6 29 54
data:
$ID,401
$MISSION,22
$DIVE,1899
$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,30
$R_STBD_OVSHOOT,59
$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
$GPS1,290817,054859,6034.8643,-17341.2812,8,0.8,14,7.1,0.0,0.0,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-2.4
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,10,-1.82,-585.0,2392,1995,2367,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,4097,0.022,0.000,1839,1997,2366,2366,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.34,53.18
$GC,23,-1.82,-585.0,1838,1996,2367,4094,0.1,0.0,1,36,0.57,0.00,-7.45,0.000,20742,0.036,0.000,1777,1997,3171,3171,4095,0,0,0,0,0,0,26.04,24.51,26.08,10.34,53.30
$GC,70,-1.82,-585.0,1776,1996,3171,4095,3.3,-12.6,8,76,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1997,3172,3172,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.51,53.18
$GC,110,-1.82,-585.0,1776,1997,3173,4095,9.8,-16.1,14,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1997,3173,3173,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.52,53.46
$GC,150,-1.82,-585.0,1776,1996,3174,4094,16.4,-17.4,20,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1997,3174,3174,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.52,53.18
$GC,191,-1.82,-585.0,1776,1996,3175,4095,21.8,-12.2,26,197,0.00,1.23,0.00,0.000,516,0.000,0.051,1777,1524,3175,3175,4095,0,0,0,0,0,0,26.41,25.96,26.43,10.49,52.75
$GC,280,-1.82,-585.0,1776,1523,3177,4095,33.2,-13.7,40,286,0.00,0.93,0.00,0.000,1030,0.000,0.026,1777,1926,3178,3178,4095,0,0,0,0,0,0,26.22,26.19,26.22,10.44,51.10
$GC,321,-1.82,-585.0,1776,1926,3178,4095,38.9,-14.4,46,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1926,3178,3178,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.43,51.06
$GC,361,-1.82,-585.0,1777,1926,3179,4095,44.6,-14.5,52,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1926,3180,3180,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.42,50.39
$GC,401,-1.82,-585.0,1776,1926,3181,4094,49.7,-12.4,58,408,0.00,1.15,0.00,0.000,260,0.000,0.044,1776,2367,3180,3180,4094,0,0,0,0,0,0,26.53,26.09,26.54,10.42,49.76
$GC,466,-1.82,-585.0,1776,2366,3182,4094,57.7,-12.1,68,473,0.00,1.00,0.00,0.000,1030,0.000,0.031,1777,1966,3182,3182,4095,0,0,0,0,0,0,26.24,26.20,26.27,10.41,50.00
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,495,-0.45,0.0,1776,2140,3183,4094,60.5,-12.2,71,537,4.40,0.00,33.45,1.311,10244,0.050,0.000,2187,2140,2484,2484,4095,0,0,0,0,0,0,26.15,25.18,24.13,10.40,49.25
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,538,begin climb
$GC,543,1.82,585.0,2186,2139,2484,4095,63.5,0.0,78,591,7.60,1.12,33.25,1.277,10500,0.029,0.051,2903,2556,1802,1802,4094,0,0,0,0,0,0,25.41,25.34,23.72,10.25,48.54
$GC,602,1.82,585.0,2903,2556,1802,4094,59.5,11.2,87,608,0.00,1.08,0.00,0.000,1030,0.000,0.025,2904,2136,1801,1801,4094,0,0,0,0,0,0,25.08,25.06,25.10,10.11,47.87
$GC,643,1.82,585.0,2903,2136,1800,4094,53.7,14.3,93,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2136,1800,1800,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.10,47.20
$GC,683,1.82,585.0,2903,2135,1799,4094,48.2,13.6,99,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1799,1799,4094,0,0,0,0,0,0,25.72,25.73,25.73,10.10,47.36
$GC,723,1.82,585.0,2903,2135,1798,4094,42.7,13.4,105,730,0.00,1.10,0.00,0.000,516,0.000,0.047,2904,1717,1797,1797,4094,0,0,0,0,0,0,25.85,25.47,25.86,10.10,47.99
$GC,842,1.82,585.0,2903,1717,1794,4094,27.6,12.8,124,849,0.00,1.00,0.00,0.000,1030,0.000,0.030,2904,2122,1794,1794,4094,0,0,0,0,0,0,25.82,25.79,25.85,10.09,48.62
$GC,883,1.82,585.0,2903,2122,1793,4094,22.3,12.7,130,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2122,1792,1792,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.10,48.93
$GC,924,1.90,642.4,2903,2122,1792,4094,18.0,9.8,136,931,0.20,0.00,4.35,0.490,10246,0.047,0.000,2932,2122,1734,1734,4094,0,0,0,0,0,0,26.00,25.48,24.54,10.12,49.72
$GC,966,1.90,642.4,2932,2122,1733,4094,13.3,11.3,142,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2122,1733,1733,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,51.10
$GC,1006,1.90,642.4,2932,2122,1732,4094,8.6,11.9,148,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2122,1732,1732,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,51.89
$GC,1046,1.90,642.4,2932,2122,1731,4094,4.0,11.8,154,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2122,1731,1731,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.16,52.87
$STATE,1063,end climb,SURFACE_DEPTH_REACHED
$STATE,1063,begin surface coast
$FINISH,0.1,1.002882
$STATE,1076,end surface coast,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$SM_CCo,1183,0.00,0.000,0,0,1729,649.10
$SM_GC,0.91,28.05,0.45,0.00,0.019,0.050,0.000,237,1954,1729,-6.55,1.37,649.10,0,0,0,0,0,0,26.10,25.99,26.13
$IRIDIUM_FIX,5952.82,-17420.78,290817,054115
$TT8_MAMPS,0.025466,0.102613
$HUMID,53.66
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.72,54.770
$10V_AH,10.36,51.893
$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,46.450,10.050,71.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,420.726,300.224,175.977,231.202,125.084,0.000,354.407,0.000,239.929,0.000,0.541,0.000
$DEVICE_MAMPS,49.725,51.255,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,10807,159
$CAP_FILE_SIZE,30541,0
$CFSIZE,1024409600,926171136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,065056,6034.240,-17341.244,7,0.8,36,7.1,0.2,355.4,10,4.5