version: 66.13
glider: 401
mission: 22
dive: 1901
start: 8 29 117 7 21 46
data:
$ID,401
$MISSION,22
$DIVE,1901
$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,28
$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
$GPS1,290817,070026,6034.2134,-17341.3027,8,0.8,19,7.1,0.4,21.7,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-0.7
$GPS2,290817,070026,6034.2134,-17341.3027,8,0.8,19,7.1,0.4,21.7,10,4.9
$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,154.8,16981,-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,11,-1.82,-585.0,2395,1943,2371,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.022,0.000,1840,1943,2370,2370,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.35,52.08
$GC,24,-1.82,-585.0,1840,1943,2370,4094,1.8,0.0,1,37,0.57,1.25,-5.05,0.000,20740,0.028,1.239,1773,2374,3171,3171,4095,0,0,0,0,0,0,26.11,24.30,26.13,10.36,52.08
$GC,96,-1.82,-585.0,1772,2374,3172,4095,10.3,-17.1,12,102,0.00,1.05,0.00,0.000,1030,0.000,0.030,1773,1953,3173,3173,4095,0,0,0,0,0,0,26.00,25.96,26.02,10.53,52.36
$GC,137,-1.82,-585.0,1772,1953,3174,4095,17.5,-18.0,18,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1953,3174,3174,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.53,52.79
$GC,177,-1.82,-585.0,1772,1953,3175,4095,23.7,-14.6,24,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1953,3175,3175,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.50,51.53
$GC,217,-1.82,-585.0,1772,1953,3176,4094,28.8,-12.3,30,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1953,3176,3176,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.48,51.33
$GC,257,-1.82,-585.0,1772,1953,3177,4095,34.1,-13.2,36,264,0.00,1.10,0.00,0.000,516,0.000,0.050,1773,1520,3177,3177,4095,0,0,0,0,0,0,26.43,25.99,26.44,10.46,50.63
$GC,346,-1.82,-585.0,1772,1520,3179,4095,45.4,-12.6,50,353,0.00,1.02,0.00,0.000,1030,0.000,0.026,1773,1958,3179,3179,4094,0,0,0,0,0,0,26.22,26.19,26.23,10.42,49.01
$GC,387,-1.82,-585.0,1772,1957,3180,4094,50.5,-12.3,56,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1958,3180,3180,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.42,48.74
$GC,427,-1.82,-585.0,1772,1957,3181,4095,55.6,-12.8,62,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1958,3181,3181,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.41,48.34
$STATE,463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,463,begin apogee
$GC,474,-0.45,0.0,1773,2139,3182,4095,60.7,-12.4,68,516,4.43,0.00,33.38,1.313,10244,0.050,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.13,25.17,24.11,10.41,48.22
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,522,1.82,585.0,2185,2139,2484,4094,63.8,0.0,75,569,7.62,0.00,33.20,1.278,11270,0.029,0.000,2901,2140,1801,1801,4094,0,0,0,0,0,0,25.47,25.64,23.72,10.26,47.67
$GC,604,1.82,585.0,2901,2139,1800,4094,56.8,12.8,88,611,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1716,1800,1800,4094,0,0,0,0,0,0,25.45,25.13,25.46,10.10,46.85
$GC,706,1.82,585.0,2901,1715,1797,4094,43.2,13.0,104,712,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2126,1797,1797,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.09,46.77
$GC,747,1.82,585.0,2902,2126,1796,4094,37.9,13.5,110,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1796,1796,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.10,47.32
$GC,787,1.82,585.0,2901,2126,1794,4094,32.7,12.6,116,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1794,1794,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.09,47.91
$GC,827,1.82,585.0,2902,2126,1794,4094,27.9,11.7,122,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1794,1794,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.10,47.75
$GC,867,1.82,585.0,2901,2125,1793,4094,23.5,11.1,128,874,0.00,1.10,0.00,0.000,516,0.000,0.045,2902,1712,1792,1792,4094,0,0,0,0,0,0,26.17,25.77,26.19,10.11,49.05
$GC,981,1.84,598.6,2902,1711,1789,4094,11.6,10.4,146,987,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2131,1789,1789,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.17,51.57
$GC,1022,1.84,598.6,2902,2130,1788,4094,7.1,11.5,152,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1788,1788,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.18,52.24
$GC,1062,1.84,598.6,2901,2130,1787,4094,2.7,10.7,158,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1787,1787,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.19,52.59
$STATE,1072,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,1.0,1.024142,102
$GC,1084,0.15,101.6,2902,2131,1786,4094,1.0,10.7,160,1098,5.20,0.00,-5.18,0.000,20486,0.021,0.000,2391,2131,2373,2373,4094,0,0,0,0,0,0,26.10,24.47,26.15,10.19,52.99
$FINISH2,0.2
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,054311
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.54
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.72,54.840
$10V_AH,10.36,51.943
$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,23.425,9.650,66.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,418.552,250.462,147.731,235.794,109.073,0.000,325.080,0.000,244.111,0.000,0.543,0.000
$DEVICE_MAMPS,49.725,1239.300,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,10843,162
$CAP_FILE_SIZE,27694,0
$CFSIZE,1024409600,926072832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,070026,6034.213,-17341.303,8,0.8,19,7.1,0.4,21.7,10,4.9