version: 66.13
glider: 401
mission: 22
dive: 1628
start: 8 24 117 15 14 34
data:
$ID,401
$MISSION,22
$DIVE,1628
$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,500
$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,20
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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
$GPS1,240817,145411,6110.2896,-17353.9629,9,0.7,15,7.0,0.0,264.4,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.7
$GPS2,240817,145411,6110.2896,-17353.9629,9,0.7,15,7.0,0.0,264.4,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,155.1,12318,-11.5,-10.526,-14.94,6951
$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,-1.78,-487.5,2381,1956,2392,4092,0.0,0.0,0,21,6.25,0.00,-2.15,0.000,20482,0.024,0.000,1771,1956,2624,2624,4094,0,0,0,0,0,0,26.16,28.83,26.21,10.34,52.48
$GC,26,-1.78,-487.5,1770,1956,2624,4094,0.1,0.0,1,36,0.00,1.12,-4.07,0.000,16900,0.000,1.270,1771,1541,3056,3056,4095,0,0,0,0,0,0,26.41,24.47,26.41,10.38,52.40
$GC,295,-1.78,-487.5,1770,1541,3062,4095,34.0,-13.2,40,303,0.00,0.98,0.00,0.000,1030,0.000,0.027,1770,1957,3062,3062,4095,0,0,0,0,0,0,26.24,26.25,26.26,10.43,50.94
$GC,343,-1.78,-487.5,1770,1957,3064,4095,40.2,-12.6,46,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1957,3064,3064,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.41,50.43
$GC,392,-1.78,-487.5,1770,1957,3065,4095,46.4,-12.9,52,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1957,3065,3065,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.39,49.21
$GC,440,-1.78,-487.5,1770,1957,3066,4094,52.7,-13.3,58,449,0.00,1.08,0.00,0.000,260,0.000,0.047,1771,2369,3066,3066,4094,0,0,0,0,0,0,26.55,26.15,26.57,10.38,48.42
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,506,-0.45,0.0,1770,2123,3068,4095,60.7,-12.9,66,542,4.47,0.00,28.27,1.329,10244,0.054,0.000,2186,2119,2484,2484,4094,0,0,0,0,0,0,26.20,25.35,24.30,10.38,48.26
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,548,1.78,487.5,2186,2119,2484,4094,64.1,0.0,70,591,7.50,0.00,27.90,1.292,11270,0.030,0.000,2892,2119,1916,1916,4095,0,0,0,0,0,0,25.61,25.78,23.89,10.25,47.28
$GC,631,1.78,487.5,2891,2118,1915,4095,57.6,12.8,80,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2119,1915,1915,4094,0,0,0,0,0,0,25.60,25.62,25.61,10.12,46.22
$GC,679,1.78,487.5,2891,2118,1913,4094,51.1,13.6,86,689,0.00,1.00,0.00,0.000,516,0.000,0.045,2892,1739,1913,1913,4094,0,0,0,0,0,0,25.79,25.45,25.81,10.11,46.02
$GC,779,1.78,487.5,2891,1739,1911,4094,37.6,13.2,100,789,0.00,0.95,0.00,0.000,1030,0.000,0.031,2892,2125,1911,1911,4094,0,0,0,0,0,0,25.79,25.75,25.80,10.10,46.73
$GC,828,1.78,487.5,2891,2125,1909,4094,31.4,13.3,106,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2125,1908,1908,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.11,47.20
$GC,874,1.78,487.5,2891,2125,1908,4094,25.3,12.7,112,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1907,1907,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.13,48.74
$GC,921,1.78,487.5,2892,2125,1906,4094,19.9,11.3,118,930,0.00,1.00,0.00,0.000,516,0.000,0.045,2892,1745,1905,1905,4094,0,0,0,0,0,0,26.23,25.85,26.25,10.15,49.60
$GC,988,1.78,487.5,2891,1744,1904,4094,12.3,10.9,127,998,0.00,0.95,0.00,0.000,1030,0.000,0.031,2892,2133,1903,1903,4094,0,0,0,0,0,0,26.02,25.99,26.06,10.18,50.70
$GC,1036,1.78,487.5,2891,2132,1903,4094,7.1,10.9,133,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2133,1903,1903,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.19,51.65
$STATE,1079,end climb,FINISH_DEPTH_REACHED
$STATE,1079,begin subsurface finish
$FINISH1,1.4,1.024404,83
$GC,1090,0.12,83.3,2891,2132,1901,4094,1.4,12.2,139,1108,5.22,0.00,-4.40,0.000,20486,0.024,0.000,2380,2133,2391,2391,4094,0,0,0,0,0,0,26.13,25.44,26.17,10.21,51.73
$FINISH2,0.1
$STATE,1109,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,240817,144058
$TT8_MAMPS,0.025466,0.244174
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.89,46.269
$10V_AH,10.15,45.455
$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,23.450,8.000,56.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,391.872,0.000,102.108,588.532,87.121,0.000,315.356,0.000,343.626,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1269.900,1328.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.687,383.044,303.189,449.570,587.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330616
$DATA_FILE_SIZE,14268,141
$CAP_FILE_SIZE,23232,0
$CFSIZE,1024409600,939491328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,145411,6110.290,-17353.963,9,0.7,15,7.0,0.0,264.4,11,4.8