version: 66.13
glider: 401
mission: 22
dive: 1810
start: 8 27 117 18 0 26
data:
$ID,401
$MISSION,22
$DIVE,1810
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,270817,175101,6049.1582,-17348.3320,5,0.8,13,7.0,0.0,248.9,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.6
$GPS2,270817,175947,6049.1880,-17348.4902,7,0.8,15,7.0,0.0,331.3,10,5.0
$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,157.9,45444,-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,6,begin dive
$GC,11,-1.82,-585.0,237,1971,1785,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.082,0.000,969,1971,1785,1785,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.25,52.28
$GC,26,-1.82,-585.0,969,1971,1785,4094,0.7,0.0,1,54,8.38,1.27,-12.88,0.000,18948,0.042,1.248,1752,1516,3172,3172,4094,0,0,0,0,0,0,25.89,24.14,25.89,10.26,52.48
$GC,266,-1.82,-585.0,1752,1516,3178,4094,31.2,-14.2,35,275,0.00,1.02,0.00,0.000,1030,0.000,0.025,1752,1953,3178,3178,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.51,51.26
$GC,314,-1.82,-585.0,1752,1953,3179,4094,37.8,-13.8,41,323,0.00,1.10,0.00,0.000,260,0.000,0.045,1752,2373,3179,3179,4095,0,0,0,0,0,0,26.44,26.02,26.45,10.48,50.07
$GC,401,-1.82,-585.0,1752,2372,3181,4095,49.4,-13.4,53,410,0.00,1.05,0.00,0.000,1030,0.000,0.028,1752,1954,3181,3181,4094,0,0,0,0,0,0,26.18,26.18,26.22,10.45,48.85
$GC,449,-1.82,-585.0,1752,1954,3183,4094,55.9,-13.7,59,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1954,3183,3183,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.44,48.58
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,489,-0.45,0.0,1752,2145,3183,4095,60.4,-13.2,63,534,4.65,0.00,33.60,1.320,10244,0.051,0.000,2187,2145,2484,2484,4094,0,0,0,0,0,0,26.11,25.17,24.11,10.43,47.40
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,539,1.82,585.0,2186,2145,2484,4094,63.9,0.0,68,584,7.62,0.00,33.40,1.282,11270,0.029,0.000,2903,2144,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.75,10.29,47.51
$GC,625,1.82,585.0,2902,2144,1801,4094,56.6,13.6,78,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1801,1801,4094,0,0,0,0,0,0,25.48,25.50,25.49,10.13,45.62
$GC,674,1.82,585.0,2902,2144,1800,4094,49.7,14.0,84,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1799,1799,4094,0,0,0,0,0,0,25.72,25.73,25.72,10.12,45.74
$GC,722,1.82,585.0,2902,2144,1797,4094,42.9,13.7,90,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1797,1797,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.12,45.86
$GC,771,1.82,585.0,2902,2144,1795,4094,36.3,13.6,96,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1795,1795,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.12,46.37
$GC,820,1.82,585.0,2902,2144,1794,4094,29.8,13.1,102,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1794,1794,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.13,46.88
$GC,869,1.82,585.0,2902,2144,1793,4094,23.5,13.1,108,878,0.00,1.15,0.00,0.000,516,0.000,0.043,2903,1705,1792,1792,4094,0,0,0,0,0,0,26.16,25.75,26.17,10.14,47.83
$STATE,1053,end climb,FINISH_DEPTH_REACHED
$STATE,1053,begin subsurface finish
$FINISH1,1.7,1.024321,89
$GC,1066,0.13,89.1,2903,2162,1786,4094,1.7,11.3,135,1085,5.28,0.00,-5.32,0.000,20486,0.021,0.000,2377,2164,2385,2385,4095,0,0,0,0,0,0,26.12,25.41,26.17,10.20,51.89
$FINISH2,0.1
$STATE,1086,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1086,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,164258
$TT8_MAMPS,0.025466,0.255409
$HUMID,52.12
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.75,51.900
$10V_AH,10.11,49.787
$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,34.400,7.150,67.000,0.000,0.000,26.050,17.538,234.482,0.000,0.000,16.408,385.202,0.000,108.488,835.095,293.939,0.000,327.545,0.000,335.751,0.000,0.543,0.000
$DEVICE_MAMPS,81.855,1248.480,1319.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.237,372.302,294.500,436.902,572.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,14447,137
$CAP_FILE_SIZE,25342,0
$CFSIZE,1024409600,930545664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270817,175947,6049.188,-17348.490,7,0.8,15,7.0,0.0,331.3,10,5.0