version: 66.13
glider: 401
mission: 22
dive: 1903
start: 8 29 117 8 13 10
data:
$ID,401
$MISSION,22
$DIVE,1903
$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,10
$R_STBD_OVSHOOT,57
$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
$GPS1,290817,080246,6033.8027,-17341.2246,7,0.8,17,7.1,0.0,211.2,10,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-37.7
$GPS2,290817,081231,6033.7988,-17341.2871,5,0.8,17,7.1,0.5,332.4,10,4.6
$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,154.0,16249,-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,-585.0,230,1967,1786,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,2049,0.087,0.000,714,1967,1786,1786,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.27,51.89
$GC,24,-1.82,-585.0,714,1966,1786,4094,0.7,0.0,1,55,11.12,1.25,-12.77,0.000,18948,0.043,1.250,1752,1508,3171,3171,4094,0,0,0,0,0,0,25.86,24.14,25.94,10.27,52.12
$GC,290,-1.82,-585.0,1752,1508,3177,4094,32.6,-14.1,44,296,0.00,0.98,0.00,0.000,1030,0.000,0.025,1753,1929,3177,3177,4095,0,0,0,0,0,0,26.15,26.10,26.17,10.50,50.03
$GC,331,-1.82,-585.0,1752,1928,3178,4095,37.9,-12.5,50,338,0.00,1.10,0.00,0.000,516,0.000,0.048,1752,1505,3178,3178,4095,0,0,0,0,0,0,26.43,25.98,26.44,10.48,49.37
$GC,414,-1.82,-585.0,1752,1504,3180,4095,48.9,-13.2,63,421,0.00,1.05,0.00,0.000,1030,0.000,0.025,1752,1953,3180,3180,4094,0,0,0,0,0,0,26.21,26.19,26.23,10.46,47.91
$GC,455,-1.82,-585.0,1752,1953,3181,4094,54.3,-13.0,69,461,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1953,3182,3182,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.45,47.67
$GC,495,-1.82,-585.0,1752,1953,3182,4095,59.7,-13.7,75,501,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1953,3182,3182,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.44,47.12
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,517,-0.45,0.0,1752,2137,3183,4095,61.8,-13.5,77,559,4.65,0.00,33.60,1.336,10244,0.050,0.000,2187,2137,2484,2484,4095,0,0,0,0,0,0,26.10,25.13,24.05,10.44,46.92
$STATE,560,end apogee,CONTROL_FINISHED_OK
$STATE,560,begin climb
$GC,565,1.82,585.0,2186,2137,2484,4095,65.1,0.0,84,613,7.62,0.00,33.25,1.299,11270,0.028,0.000,2903,2137,1804,1804,4094,0,0,0,0,0,0,25.46,25.61,23.68,10.29,46.37
$GC,647,1.82,585.0,2903,2137,1802,4094,58.0,12.8,97,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2137,1802,1802,4094,0,0,0,0,0,0,25.44,25.45,25.45,10.14,45.82
$GC,687,1.82,585.0,2903,2137,1800,4094,52.5,13.9,103,694,0.00,1.20,0.00,0.000,516,0.000,0.043,2904,1692,1800,1800,4094,0,0,0,0,0,0,25.64,25.28,25.65,10.13,46.02
$GC,830,1.82,585.0,2903,1691,1795,4094,32.7,13.9,126,837,0.00,1.05,0.00,0.000,1030,0.000,0.028,2904,2117,1795,1795,4094,0,0,0,0,0,0,25.77,25.74,25.80,10.11,46.88
$GC,871,1.82,585.0,2903,2117,1794,4094,27.3,13.3,132,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1794,1794,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.12,47.12
$GC,912,1.82,585.0,2903,2117,1793,4094,22.5,11.7,138,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1793,1793,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.13,47.99
$GC,952,1.82,585.0,2903,2117,1791,4094,17.9,10.7,144,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1791,1791,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.17,49.37
$GC,992,1.85,610.7,2903,2117,1791,4094,13.7,10.2,150,1000,0.00,1.12,2.75,0.248,8708,0.000,0.045,2904,1693,1771,1771,4094,0,0,0,0,0,0,26.27,25.53,24.48,10.19,50.86
$STATE,1096,end climb,FINISH_DEPTH_REACHED
$STATE,1096,begin subsurface finish
$FINISH1,1.7,1.024157,101
$GC,1113,0.15,100.6,2903,2155,1767,4094,1.7,11.1,167,1127,5.22,0.00,-5.35,0.000,20486,0.021,0.000,2391,2155,2373,2373,4094,0,0,0,0,0,0,26.08,24.44,26.13,10.21,52.99
$FINISH2,0.1
$STATE,1128,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1128,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,065451
$TT8_MAMPS,0.026215,0.133322
$HUMID,52.83
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.68,54.910
$10V_AH,10.30,51.991
$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,34.300,9.375,69.600,0.000,0.000,25.170,19.816,282.441,0.000,0.000,18.679,437.287,277.805,143.958,534.738,327.822,0.000,322.820,0.000,255.598,0.000,0.541,0.000
$DEVICE_MAMPS,87.210,1250.010,1336.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10845,169
$CAP_FILE_SIZE,29744,0
$CFSIZE,1024409600,925974528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290817,081231,6033.799,-17341.287,5,0.8,17,7.1,0.5,332.4,10,4.6