version: 66.13
glider: 401
mission: 22
dive: 1832
start: 8 28 117 2 55 8
data:
$ID,401
$MISSION,22
$DIVE,1832
$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,52
$R_STBD_OVSHOOT,55
$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
$GPS1,280817,023359,6046.1953,-17345.6191,7,0.9,30,7.0,0.4,231.8,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.9
$GPS2,280817,023359,6046.1953,-17345.6191,7,0.9,30,7.0,0.4,231.8,9,5.0
$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,159.5,39424,-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,-585.0,2385,1989,2379,4092,0.0,0.0,0,20,6.38,0.00,-1.15,0.000,20482,0.024,0.000,1762,1989,2503,2503,4094,0,0,0,0,0,0,26.08,28.83,26.13,10.35,53.30
$GC,26,-1.82,-585.0,1761,1982,2504,4094,0.2,0.0,1,43,0.00,1.25,-6.28,0.000,16900,0.000,1.252,1762,1544,3172,3172,4095,0,0,0,0,0,0,26.34,24.27,26.35,10.38,52.71
$GC,222,-1.82,-585.0,1761,1544,3177,4095,26.4,-12.9,29,232,0.00,0.90,0.00,0.000,1030,0.000,0.028,1762,1933,3177,3177,4095,0,0,0,0,0,0,26.13,26.08,26.12,10.50,52.36
$GC,271,-1.82,-585.0,1761,1933,3178,4095,32.6,-12.1,35,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1933,3178,3178,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.48,51.49
$GC,318,-1.82,-585.0,1761,1934,3179,4095,38.0,-10.8,41,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1934,3179,3179,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.46,50.94
$GC,365,-1.82,-585.0,1761,1934,3180,4095,43.6,-12.0,47,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1934,3181,3181,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.44,49.88
$GC,412,-1.82,-585.0,1761,1934,3181,4095,49.3,-12.2,53,421,0.00,1.15,0.00,0.000,260,0.000,0.044,1762,2371,3181,3181,4095,0,0,0,0,0,0,26.48,26.06,26.48,10.43,49.17
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,506,-0.45,0.0,1762,2137,3183,4095,60.6,-12.8,65,550,4.55,0.00,33.67,1.307,10244,0.052,0.000,2187,2130,2484,2484,4094,0,0,0,0,0,0,26.12,25.18,24.15,10.41,48.62
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,556,1.82,585.0,2187,2130,2484,4094,64.0,0.0,70,600,7.60,0.00,33.35,1.278,11270,0.029,0.000,2903,2130,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.76,10.27,47.59
$GC,640,1.82,585.0,2903,2130,1801,4094,57.3,13.1,80,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.12,46.57
$GC,689,1.82,585.0,2903,2130,1799,4094,50.5,13.7,86,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1799,1799,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.11,47.32
$GC,738,1.82,585.0,2903,2130,1797,4094,43.6,13.9,92,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2130,1797,1797,4094,0,0,0,0,0,0,25.86,25.89,25.88,10.11,47.00
$GC,786,1.82,585.0,2903,2129,1796,4094,36.9,13.9,98,795,0.00,1.00,0.00,0.000,516,0.000,0.042,2904,1747,1796,1796,4094,0,0,0,0,0,0,25.98,25.62,25.99,10.10,47.24
$GC,961,1.82,585.0,2903,1747,1790,4094,15.5,12.2,123,970,0.00,0.90,0.00,0.000,1030,0.000,0.029,2904,2121,1790,1790,4094,0,0,0,0,0,0,25.99,25.96,26.04,10.15,49.60
$GC,1010,1.87,620.6,2903,2120,1789,4094,9.8,10.1,129,1020,0.10,0.00,3.17,0.306,10246,0.075,0.000,2925,2121,1759,1759,4094,0,0,0,0,0,0,26.10,25.21,24.64,10.17,51.73
$GC,1060,1.87,620.6,2925,2120,1757,4094,4.3,11.6,135,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2121,1757,1757,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.18,52.08
$STATE,1076,end climb,FINISH_DEPTH_REACHED
$STATE,1076,begin subsurface finish
$FINISH1,1.7,1.024221,96
$GC,1088,0.14,96.1,2925,2120,1757,4094,1.7,11.6,137,1107,5.47,1.08,-5.53,0.000,20996,0.025,1.248,2387,1739,2376,2376,4094,0,0,0,0,0,0,26.10,24.34,26.14,10.18,52.87
$FINISH2,0.1
$STATE,1108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,011619
$TT8_MAMPS,0.024717,0.237433
$HUMID,52.52
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.76,52.601
$10V_AH,10.15,50.306
$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,24.100,7.325,70.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,383.926,0.967,110.661,576.199,99.744,0.000,327.082,0.000,339.137,0.000,0.542,0.000
$DEVICE_MAMPS,74.970,1252.305,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.596,377.685,298.839,443.125,574.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,14308,139
$CAP_FILE_SIZE,23297,0
$CFSIZE,1024409600,929464320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,023359,6046.195,-17345.619,7,0.9,30,7.0,0.4,231.8,9,5.0