version: 66.13
glider: 401
mission: 22
dive: 1933
start: 8 29 117 20 43 49
data:
$ID,401
$MISSION,22
$DIVE,1933
$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,23
$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
$GPS1,290817,203311,6029.0288,-17339.5840,5,0.8,16,7.1,0.7,276.1,11,4.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-37.6
$GPS2,290817,204310,6029.0713,-17339.6445,5,0.8,17,7.1,0.0,300.4,11,4.8
$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,143.2,7613,-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,-585.0,231,1955,1786,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,2049,0.083,0.000,719,1955,1786,1786,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.28,51.57
$GC,23,-1.82,-585.0,719,1955,1786,4094,0.6,0.0,1,54,11.15,1.25,-12.80,0.000,18948,0.046,1.259,1752,1523,3169,3169,4094,0,0,0,0,0,0,25.87,23.59,25.95,10.28,51.57
$GC,289,-1.82,-585.0,1751,1521,3175,4094,34.4,-13.7,44,296,0.00,1.02,0.00,0.000,1030,0.000,0.025,1752,1958,3176,3176,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.49,49.52
$GC,330,-1.82,-585.0,1751,1958,3177,4095,40.0,-13.4,50,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3177,3177,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.48,48.93
$GC,371,-1.82,-585.0,1751,1957,3178,4094,45.5,-13.8,56,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3178,3178,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.46,47.83
$GC,411,-1.82,-585.0,1751,1958,3179,4095,51.0,-14.0,62,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3179,3179,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.46,47.51
$GC,451,-1.82,-585.0,1751,1958,3180,4095,56.6,-13.7,68,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1958,3180,3180,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.45,47.20
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,486,-0.45,0.0,1752,2140,3180,4094,60.5,-14.0,72,527,4.65,0.00,33.35,1.324,10244,0.050,0.000,2187,2140,2484,2484,4094,0,0,0,0,0,0,26.09,25.14,24.07,10.44,47.28
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,534,1.82,585.0,2187,2140,2484,4094,63.7,0.0,79,581,7.60,0.00,33.28,1.278,11270,0.028,0.000,2903,2140,1801,1801,4094,0,0,0,0,0,0,25.47,25.63,23.71,10.30,47.08
$GC,616,1.82,585.0,2902,2140,1800,4094,56.4,13.3,92,622,0.00,1.15,0.00,0.000,516,0.000,0.042,2903,1711,1800,1800,4094,0,0,0,0,0,0,25.46,25.14,25.47,10.14,45.82
$GC,711,1.82,585.0,2902,1710,1796,4094,43.3,13.5,107,717,0.00,1.05,0.00,0.000,1030,0.000,0.029,2903,2132,1796,1796,4094,0,0,0,0,0,0,25.60,25.56,25.63,10.13,46.29
$GC,752,1.82,585.0,2902,2131,1796,4094,37.7,14.0,113,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1795,1795,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.12,46.85
$GC,792,1.82,585.0,2902,2131,1794,4094,32.3,13.4,119,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1794,1794,4094,0,0,0,0,0,0,26.06,26.07,26.07,10.12,46.81
$GC,832,1.82,585.0,2902,2132,1793,4094,26.9,12.9,125,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1793,1793,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.11,47.12
$GC,873,1.82,585.0,2902,2131,1791,4094,21.8,12.9,131,879,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1707,1791,1791,4094,0,0,0,0,0,0,26.19,25.77,26.20,10.12,47.16
$GC,992,1.84,597.8,2902,1706,1788,4094,9.5,10.4,150,998,0.00,1.02,0.00,0.000,1030,0.000,0.028,2903,2129,1788,1788,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.19,51.14
$GC,1033,1.84,597.8,2902,2128,1787,4094,4.6,12.6,156,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,1787,1787,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.20,52.36
$STATE,1062,end climb,FINISH_DEPTH_REACHED
$STATE,1062,begin subsurface finish
$FINISH1,1.7,1.024151,101
$GC,1074,0.15,100.9,2903,2131,1786,4094,1.7,7.7,161,1088,5.30,0.00,-4.88,0.000,20486,0.031,0.000,2386,2131,2374,2374,4095,0,0,0,0,0,0,26.13,24.44,26.17,10.21,52.16
$FINISH2,0.5
$STATE,1089,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1089,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,192352
$TT8_MAMPS,0.025466,0.134071
$HUMID,52.44
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.59,55.890
$10V_AH,10.30,52.715
$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,34.375,7.050,66.625,0.000,0.000,22.235,25.669,289.871,0.000,0.000,18.930,420.628,260.807,146.322,535.070,332.968,0.000,323.247,0.000,247.173,0.000,0.542,0.000
$DEVICE_MAMPS,83.385,1259.190,1324.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10856,163
$CAP_FILE_SIZE,29163,0
$CFSIZE,1024409600,924499968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290817,204310,6029.071,-17339.645,5,0.8,17,7.1,0.0,300.4,11,4.8