version: 66.13
glider: 401
mission: 22
dive: 1330
start: 8 19 117 11 43 10
data:
$ID,401
$MISSION,22
$DIVE,1330
$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,28
$R_STBD_OVSHOOT,62
$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
$GPS1,190817,113325,6154.4927,-17409.6602,5,0.9,24,6.9,0.2,214.3,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-40.6
$GPS2,190817,114233,6154.4824,-17409.7285,6,0.9,28,6.9,0.2,223.8,10,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,134.3,25807,-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,9,-1.78,-487.5,230,1947,1759,4092,0.0,0.0,0,20,8.55,0.00,0.00,0.000,2049,0.097,0.000,949,1947,1759,1759,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.22,52.04
$GC,24,-1.78,-487.5,948,1947,1758,4094,0.7,0.0,1,52,8.68,1.10,-12.10,0.000,19204,0.041,1.253,1759,2346,3055,3055,4094,0,0,0,0,0,0,25.91,24.42,25.94,10.22,51.18
$GC,70,-1.78,-487.5,1760,2346,3055,4094,0.8,-1.3,6,79,0.00,1.00,0.00,0.000,1030,0.000,0.031,1760,1951,3056,3056,4095,0,0,0,0,0,0,25.89,25.84,25.91,10.51,51.61
$GC,118,-1.78,-487.5,1759,1950,3057,4095,8.1,-17.3,12,128,0.00,1.08,0.00,0.000,516,0.000,0.048,1760,1521,3057,3057,4095,0,0,0,0,0,0,26.20,25.89,26.20,10.51,50.82
$GC,371,-1.78,-487.5,1759,1521,3064,4095,44.8,-13.1,49,379,0.00,0.93,0.00,0.000,1030,0.000,0.026,1760,1924,3064,3064,4095,0,0,0,0,0,0,26.20,26.18,26.22,10.38,47.87
$GC,417,-1.78,-487.5,1760,1924,3065,4095,50.7,-12.6,55,426,0.00,1.15,0.00,0.000,260,0.000,0.044,1760,2366,3066,3066,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.38,46.92
$GC,477,-1.78,-487.5,1760,2366,3066,4094,58.7,-13.4,63,487,0.00,1.02,0.00,0.000,1030,0.000,0.030,1761,1954,3067,3067,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.37,46.10
$STATE,494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,494,begin apogee
$GC,504,-0.45,0.0,1760,2136,3067,4094,61.5,-13.6,65,540,4.57,0.00,28.33,1.321,10244,0.055,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.16,25.27,24.18,10.37,45.58
$STATE,541,end apogee,CONTROL_FINISHED_OK
$STATE,541,begin climb
$GC,545,1.78,487.5,2184,2136,2485,4094,64.9,0.0,69,588,7.55,0.00,28.02,1.291,11270,0.031,0.000,2892,2136,1918,1918,4095,0,0,0,0,0,0,25.55,25.70,23.82,10.23,45.23
$GC,628,1.78,487.5,2892,2136,1917,4095,58.3,12.5,79,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2136,1917,1917,4094,0,0,0,0,0,0,25.57,25.58,25.58,10.10,44.44
$GC,675,1.78,487.5,2891,2136,1915,4094,52.0,13.1,85,685,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1712,1915,1915,4094,0,0,0,0,0,0,25.75,25.46,25.76,10.09,44.32
$GC,781,1.78,487.5,2891,1712,1912,4094,38.1,12.8,100,790,0.00,1.02,0.00,0.000,1030,0.000,0.029,2891,2126,1912,1912,4095,0,0,0,0,0,0,25.78,25.72,25.80,10.08,45.66
$GC,828,1.78,487.5,2891,2126,1911,4095,32.1,13.3,106,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2126,1911,1911,4095,0,0,0,0,0,0,26.08,26.09,26.09,10.07,45.82
$GC,874,1.78,487.5,2891,2126,1910,4095,26.1,13.2,112,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1909,1909,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.07,45.78
$GC,921,1.78,487.5,2891,2126,1908,4094,20.6,11.2,118,931,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1711,1908,1908,4094,0,0,0,0,0,0,26.20,25.88,26.20,10.11,46.96
$GC,1095,1.86,541.2,2891,1710,1904,4094,5.0,9.7,143,1106,0.17,1.00,4.12,0.404,11270,0.047,0.029,2915,2123,1851,1851,4094,0,0,0,0,0,0,26.09,26.09,25.06,10.19,51.69
$STATE,1120,end climb,FINISH_DEPTH_REACHED
$STATE,1120,begin subsurface finish
$FINISH1,1.8,1.023825,124
$GC,1130,0.19,123.7,2915,2122,1850,4094,1.8,10.1,146,1149,5.40,0.00,-4.43,0.000,20486,0.040,0.000,2403,2130,2342,2342,4094,0,0,0,0,0,0,26.10,25.48,26.15,10.18,51.85
$FINISH2,0.2
$STATE,1150,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1150,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,102535
$TT8_MAMPS,0.025466,0.25466
$HUMID,53.03
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.82,37.419
$10V_AH,10.13,38.295
$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,34.925,11.100,60.475,0.000,0.000,25.468,22.864,279.430,0.000,0.000,29.212,415.934,0.000,110.783,952.544,233.477,0.000,340.290,0.000,361.438,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1253.070,1321.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.636,402.149,318.281,472.217,614.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,14373,148
$CAP_FILE_SIZE,29622,0
$CFSIZE,1024409600,954138624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190817,114233,6154.482,-17409.729,6,0.9,28,6.9,0.2,223.8,10,4.8