version: 66.13
glider: 401
mission: 22
dive: 1802
start: 8 27 117 14 29 41
data:
$ID,401
$MISSION,22
$DIVE,1802
$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
$GPS1,270817,140927,6051.1069,-17345.5527,7,0.8,15,7.0,0.0,255.6,11,4.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-5.6
$GPS2,270817,140927,6051.1069,-17345.5527,7,0.8,15,7.0,0.0,255.6,11,4.6
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W18S
$TGT_LATLONG,6044.340,-17338.881
$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,147.3,13912,-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,-585.0,2381,1948,2377,4092,0.0,0.0,0,21,6.38,0.00,-2.03,0.000,20482,0.026,0.000,1758,1948,2594,2594,4094,0,0,0,0,0,0,26.16,28.83,26.21,10.34,52.91
$GC,26,-1.82,-585.0,1757,1948,2594,4094,0.1,0.0,1,37,0.00,1.23,-5.38,0.000,16900,0.000,1.271,1757,1518,3170,3170,4095,0,0,0,0,0,0,26.42,24.32,26.44,10.39,53.34
$GC,166,-1.82,-585.0,1757,1517,3174,4095,19.2,-17.1,21,176,0.00,1.02,0.00,0.000,1030,0.000,0.030,1757,1945,3174,3174,4095,0,0,0,0,0,0,26.20,26.15,26.20,10.51,52.48
$GC,214,-1.82,-585.0,1757,1945,3175,4095,26.5,-14.8,27,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3175,3175,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.48,52.59
$GC,262,-1.82,-585.0,1757,1945,3176,4095,32.8,-12.8,33,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3177,3177,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.47,51.73
$GC,309,-1.82,-585.0,1757,1945,3177,4095,39.0,-13.4,39,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3178,3178,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.45,50.86
$GC,356,-1.82,-585.0,1757,1945,3179,4095,45.1,-12.6,45,366,0.00,1.12,0.00,0.000,260,0.000,0.046,1757,2375,3179,3179,4095,0,0,0,0,0,0,26.55,26.13,26.56,10.44,49.96
$GC,437,-1.82,-585.0,1757,2375,3181,4095,55.5,-13.0,56,446,0.00,1.12,0.00,0.000,1030,0.000,0.031,1757,1923,3181,3181,4095,0,0,0,0,0,0,26.26,26.22,26.29,10.42,48.66
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,478,-0.45,0.0,1757,2143,3182,4094,60.1,-13.2,60,522,4.57,0.00,33.42,1.322,10244,0.052,0.000,2185,2143,2484,2484,4094,0,0,0,0,0,0,26.19,25.22,24.18,10.41,48.62
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,528,1.82,585.0,2185,2142,2484,4094,63.6,0.0,65,572,7.68,0.00,33.17,1.285,11270,0.030,0.000,2906,2143,1802,1802,4094,0,0,0,0,0,0,25.52,25.69,23.77,10.26,47.63
$GC,613,1.82,585.0,2904,2142,1801,4094,56.7,13.2,75,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2143,1801,1801,4094,0,0,0,0,0,0,25.50,25.51,25.51,10.11,46.88
$GC,661,1.82,585.0,2904,2142,1799,4094,49.8,14.3,81,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2143,1799,1799,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.10,46.77
$GC,710,1.82,585.0,2904,2142,1798,4094,42.8,14.2,87,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2143,1797,1797,4095,0,0,0,0,0,0,25.88,25.89,25.89,10.10,47.08
$GC,759,1.82,585.0,2904,2142,1796,4095,36.1,13.5,93,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2143,1796,1796,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.10,47.40
$GC,808,1.82,585.0,2905,2142,1794,4094,29.5,13.6,99,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2143,1794,1794,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.11,48.03
$GC,857,1.82,585.0,2904,2142,1793,4094,23.2,12.4,105,866,0.00,1.12,0.00,0.000,516,0.000,0.045,2905,1713,1793,1793,4094,0,0,0,0,0,0,26.16,25.76,26.17,10.12,49.05
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1067,begin subsurface finish
$FINISH1,1.8,1.024214,97
$GC,1080,0.14,96.5,2905,2137,1787,4094,1.8,7.2,136,1099,5.38,1.20,-5.25,0.000,20996,0.034,1.252,2385,1715,2376,2376,4094,0,0,0,0,0,0,26.13,24.39,26.17,10.19,52.48
$FINISH2,0.1
$STATE,1100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1101,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,270817,125139
$TT8_MAMPS,0.025466,0.252413
$HUMID,52.95
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.77,51.606
$10V_AH,10.14,49.590
$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,24.000,8.925,66.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,383.545,0.000,107.510,578.018,94.472,0.000,324.704,0.000,335.974,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1271.430,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.953,374.947,296.695,440.127,576.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330604
$DATA_FILE_SIZE,14360,138
$CAP_FILE_SIZE,22528,0
$CFSIZE,1024409600,930938880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,140927,6051.107,-17345.553,7,0.8,15,7.0,0.0,255.6,11,4.6