version: 66.13
glider: 401
mission: 22
dive: 1850
start: 8 28 117 10 17 55
data:
$ID,401
$MISSION,22
$DIVE,1850
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,280817,095655,6042.7998,-17346.4355,7,0.8,19,7.0,0.5,323.2,10,5.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-3.4
$GPS2,280817,095655,6042.7998,-17346.4355,7,0.8,19,7.0,0.5,323.2,10,5.0
$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,155.7,33557,-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,-585.0,2382,1945,2385,4092,0.0,0.0,0,21,6.32,0.00,-2.12,0.000,20482,0.023,0.000,1756,1946,2615,2615,4095,0,0,0,0,0,0,26.18,28.83,26.22,10.33,52.83
$GC,27,-1.82,-585.0,1755,1945,2615,4095,0.1,0.0,1,37,0.00,1.15,-5.25,0.000,16900,0.000,1.258,1755,1526,3172,3172,4095,0,0,0,0,0,0,26.43,24.27,26.44,10.38,52.75
$GC,203,-1.82,-585.0,1754,1526,3177,4095,24.5,-15.3,26,213,0.00,1.00,0.00,0.000,1030,0.000,0.027,1755,1953,3177,3177,4094,0,0,0,0,0,0,26.22,26.19,26.24,10.49,52.83
$GC,252,-1.82,-585.0,1755,1953,3178,4094,31.6,-13.6,32,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1954,3178,3178,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.46,51.73
$GC,300,-1.82,-585.0,1754,1954,3179,4094,37.7,-13.1,38,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1954,3179,3179,4094,0,0,0,0,0,0,26.53,26.53,26.54,10.44,51.45
$GC,346,-1.82,-585.0,1754,1954,3180,4094,43.7,-13.3,44,356,0.00,1.10,0.00,0.000,260,0.000,0.047,1755,2373,3181,3181,4094,0,0,0,0,0,0,26.54,26.10,26.55,10.42,50.00
$GC,420,-1.82,-585.0,1754,2373,3183,4094,54.1,-14.2,54,430,0.00,1.08,0.00,0.000,1030,0.000,0.030,1755,1942,3183,3183,4095,0,0,0,0,0,0,26.26,26.21,26.28,10.41,50.07
$STATE,457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,457,begin apogee
$GC,469,-0.45,0.0,1755,2144,3183,4095,60.0,-14.3,59,512,4.60,0.00,33.62,1.330,10244,0.052,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.17,25.20,24.14,10.40,48.85
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,518,1.82,585.0,2186,2144,2484,4094,63.4,0.0,64,563,7.62,0.00,33.33,1.282,11270,0.030,0.000,2904,2144,1801,1801,4094,0,0,0,0,0,0,25.51,25.67,23.75,10.26,48.18
$GC,604,1.82,585.0,2903,2144,1800,4094,55.6,13.4,74,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1800,1800,4094,0,0,0,0,0,0,25.48,25.50,25.50,10.11,47.24
$GC,652,1.82,585.0,2903,2144,1799,4094,48.7,13.7,80,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2144,1797,1797,4094,0,0,0,0,0,0,25.71,25.73,25.72,10.10,46.81
$GC,701,1.82,585.0,2903,2144,1797,4094,42.0,13.6,86,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1796,1796,4094,0,0,0,0,0,0,25.87,25.89,25.88,10.09,47.00
$GC,750,1.82,585.0,2903,2144,1795,4094,35.2,14.5,92,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2144,1795,1795,4095,0,0,0,0,0,0,25.98,26.00,26.00,10.09,47.28
$GC,799,1.82,585.0,2903,2144,1794,4095,28.1,13.8,98,808,0.00,1.15,0.00,0.000,516,0.000,0.044,2904,1710,1794,1794,4095,0,0,0,0,0,0,26.08,25.69,26.09,10.08,47.87
$GC,979,1.82,585.0,2903,1710,1788,4095,7.6,11.2,124,988,0.00,1.02,0.00,0.000,1030,0.000,0.028,2904,2133,1788,1788,4094,0,0,0,0,0,0,26.02,25.98,26.05,10.17,51.45
$GC,1028,1.82,585.0,2903,2133,1787,4094,2.2,11.3,130,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1787,1787,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.18,51.85
$STATE,1045,end climb,FINISH_DEPTH_REACHED
$STATE,1045,begin subsurface finish
$FINISH1,0.2,1.024313,90
$GC,1056,0.13,89.7,2903,2134,1787,4094,0.2,10.0,132,1075,5.15,0.00,-5.30,0.000,20486,0.023,0.000,2398,2141,2384,2384,4094,0,0,0,0,0,0,26.08,25.42,26.14,10.18,52.28
$FINISH2,0.2
$STATE,1076,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,094829
$TT8_MAMPS,0.026215,0.241178
$HUMID,52.71
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.75,53.179
$10V_AH,10.14,50.730
$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,23.700,7.475,66.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,375.749,0.954,106.785,558.929,96.433,0.000,320.408,0.000,327.683,0.000,0.544,0.000
$DEVICE_MAMPS,52.020,1257.660,1330.335,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.196,364.090,288.100,427.208,556.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330600
$DATA_FILE_SIZE,14262,134
$CAP_FILE_SIZE,22581,0
$CFSIZE,1024409600,928579584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280817,095655,6042.800,-17346.436,7,0.8,19,7.0,0.5,323.2,10,5.0