version: 66.13
glider: 401
mission: 22
dive: 1738
start: 8 26 117 12 24 23
data:
$ID,401
$MISSION,22
$DIVE,1738
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,260817,121054,6059.9326,-17351.9551,5,0.8,39,7.0,0.0,194.3,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-41.4
$GPS2,260817,122345,6059.8516,-17352.0371,6,0.8,14,7.0,0.0,236.8,10,4.8
$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,150.5,31098,-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,-585.0,229,1953,1787,4092,0.0,0.0,0,20,7.55,0.00,0.00,0.000,2049,0.102,0.000,856,1946,1787,1787,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.24,51.06
$GC,25,-1.82,-585.0,856,1951,1787,4094,0.8,0.0,1,53,9.68,1.23,-12.85,0.000,18692,0.047,1.241,1752,2375,3172,3172,4094,0,0,0,0,0,0,25.86,24.16,25.92,10.23,50.86
$GC,311,-1.82,-585.0,1751,2374,3179,4094,37.6,-12.8,42,320,0.00,1.05,0.00,0.000,1030,0.000,0.029,1752,1953,3179,3179,4095,0,0,0,0,0,0,26.13,26.11,26.15,10.46,49.44
$GC,359,-1.82,-585.0,1751,1953,3180,4095,43.9,-13.4,48,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1953,3180,3180,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.45,48.34
$GC,406,-1.82,-585.0,1751,1953,3181,4095,50.1,-12.9,54,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1953,3181,3181,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.43,47.16
$GC,453,-1.82,-585.0,1751,1953,3182,4095,56.4,-13.1,60,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1953,3183,3183,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.42,46.81
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,488,-0.45,0.0,1751,2143,3183,4094,60.2,-13.7,63,533,4.65,0.00,33.62,1.324,10244,0.053,0.000,2186,2143,2484,2484,4095,0,0,0,0,0,0,26.12,25.15,24.11,10.42,46.49
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,538,1.82,585.0,2185,2143,2484,4095,64.0,0.0,68,584,7.65,0.00,33.38,1.290,11270,0.030,0.000,2903,2144,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.74,10.27,45.98
$GC,624,1.82,585.0,2902,2142,1801,4094,57.0,12.6,78,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2143,1801,1801,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.12,44.88
$GC,672,1.82,585.0,2902,2142,1799,4094,50.2,13.9,84,682,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1711,1799,1799,4094,0,0,0,0,0,0,25.70,25.35,25.71,10.11,45.58
$GC,766,1.82,585.0,2902,1710,1796,4094,37.4,13.3,97,776,0.00,1.05,0.00,0.000,1030,0.000,0.029,2903,2134,1796,1796,4094,0,0,0,0,0,0,25.72,25.66,25.72,10.10,45.82
$GC,816,1.82,585.0,2902,2134,1794,4094,31.0,13.1,103,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1794,1794,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.10,46.53
$GC,864,1.82,585.0,2902,2133,1793,4094,24.6,13.4,109,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1794,1794,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.12,46.88
$GC,912,1.82,585.0,2902,2133,1792,4094,18.8,11.8,115,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1790,1790,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.14,48.74
$GC,961,1.84,598.9,2902,2133,1790,4094,13.4,10.4,121,971,0.00,1.10,0.17,0.002,8708,0.000,0.042,2903,1713,1790,1790,4094,0,0,0,0,0,0,26.25,25.86,26.27,10.16,49.29
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,1.7,1.024393,84
$GC,1076,0.13,84.1,2903,2141,1787,4094,1.7,10.7,136,1095,5.32,0.00,-5.43,0.000,20486,0.024,0.000,2379,2141,2392,2392,4094,0,0,0,0,0,0,26.10,25.41,26.15,10.19,51.96
$FINISH2,0.2
$STATE,1096,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,260817,121431
$TT8_MAMPS,0.025466,0.261401
$HUMID,52.28
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.74,49.556
$10V_AH,10.11,48.082
$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,34.850,7.125,67.175,0.000,0.000,49.780,36.814,372.706,0.000,0.000,16.047,391.036,44.624,112.607,1021.839,307.729,0.000,336.361,0.000,338.322,0.000,0.543,0.000
$DEVICE_MAMPS,101.745,1240.830,1324.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.238,374.973,296.603,440.077,575.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329268
$DATA_FILE_SIZE,14361,138
$CAP_FILE_SIZE,28435,0
$CFSIZE,1024409600,934084608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260817,122345,6059.852,-17352.037,6,0.8,14,7.0,0.0,236.8,10,4.8