version: 66.13
glider: 401
mission: 22
dive: 1828
start: 8 28 117 1 21 47
data:
$ID,401
$MISSION,22
$DIVE,1828
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,280817,010702,6047.2642,-17345.5234,4,0.8,30,7.0,0.3,90.6,9,4.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-32.1
$GPS2,280817,012109,6047.1963,-17345.5762,7,0.8,14,7.0,0.0,204.1,10,4.8
$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,160.1,41220,-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,-585.0,230,1947,1786,4092,0.0,0.0,0,20,7.50,0.00,0.00,0.000,2049,0.084,0.000,876,1940,1786,1786,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.26,51.22
$GC,26,-1.82,-585.0,876,1945,1786,4094,0.6,0.0,1,54,9.32,1.20,-12.85,0.000,18948,0.043,1.255,1750,1525,3171,3171,4095,0,0,0,0,0,0,25.87,24.09,25.91,10.27,51.37
$GC,247,-1.82,-585.0,1749,1525,3177,4095,29.4,-14.7,32,256,0.00,1.02,0.00,0.000,1030,0.000,0.027,1750,1953,3177,3177,4095,0,0,0,0,0,0,26.15,26.08,26.13,10.53,50.00
$GC,296,-1.82,-585.0,1749,1953,3178,4095,35.6,-12.3,38,306,0.00,1.10,0.00,0.000,260,0.000,0.044,1750,2374,3178,3178,4095,0,0,0,0,0,0,26.41,25.99,26.42,10.50,50.15
$GC,357,-1.82,-585.0,1749,2374,3179,4095,43.8,-13.3,46,367,0.00,1.02,0.00,0.000,1030,0.000,0.028,1750,1966,3180,3180,4095,0,0,0,0,0,0,26.16,26.13,26.19,10.47,48.11
$GC,407,-1.82,-585.0,1749,1965,3181,4095,50.1,-13.1,52,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,1966,3181,3181,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.46,47.36
$GC,456,-1.82,-585.0,1749,1966,3182,4095,56.5,-13.3,58,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,1966,3182,3182,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.45,47.48
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,489,-0.45,0.0,1750,2148,3183,4094,60.3,-13.5,61,533,4.65,0.00,33.65,1.323,10244,0.052,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.10,25.15,24.08,10.44,46.25
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,539,1.82,585.0,2185,2147,2484,4094,64.1,0.0,66,584,7.62,0.00,33.45,1.285,11270,0.029,0.000,2905,2148,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.72,10.29,46.29
$GC,624,1.82,585.0,2905,2147,1801,4094,57.3,12.9,76,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2148,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.13,44.88
$GC,673,1.82,585.0,2905,2147,1799,4094,50.3,14.5,82,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2147,1799,1799,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,45.55
$GC,722,1.82,585.0,2905,2147,1797,4094,43.3,14.3,88,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2148,1797,1797,4094,0,0,0,0,0,0,25.87,25.89,25.88,10.12,45.23
$GC,771,1.82,585.0,2905,2147,1796,4094,36.2,14.7,94,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2148,1795,1795,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.12,46.06
$GC,820,1.82,585.0,2905,2147,1794,4094,29.3,14.3,100,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2147,1794,1794,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.12,46.41
$GC,868,1.82,585.0,2905,2147,1793,4094,23.6,11.2,106,878,0.00,1.15,0.00,0.000,516,0.000,0.044,2905,1712,1792,1792,4094,0,0,0,0,0,0,26.16,25.77,26.17,10.13,46.96
$GC,1034,1.82,585.0,2905,1711,1788,4094,4.7,11.1,130,1043,0.00,1.00,0.00,0.000,1030,0.000,0.028,2906,2126,1787,1787,4094,0,0,0,0,0,0,26.06,26.06,26.09,10.19,51.22
$STATE,1059,end climb,FINISH_DEPTH_REACHED
$STATE,1059,begin subsurface finish
$FINISH1,1.7,1.024248,94
$GC,1071,0.14,94.2,2905,2127,1786,4094,1.7,10.9,133,1088,5.25,0.00,-5.28,0.000,20486,0.022,0.000,2389,2134,2378,2378,4094,0,0,0,0,0,0,26.08,25.42,26.13,10.21,51.45
$FINISH2,0.1
$STATE,1089,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1090,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,280817,011436
$TT8_MAMPS,0.025466,0.248668
$HUMID,51.73
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.72,52.480
$10V_AH,10.11,50.213
$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,34.350,6.950,67.100,0.000,0.000,76.415,73.123,347.808,0.000,0.000,15.808,388.640,90.584,115.114,1025.161,326.867,0.000,340.342,0.000,330.865,0.000,0.542,0.000
$DEVICE_MAMPS,84.150,1255.365,1322.685,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.655,366.834,290.178,430.327,560.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329200
$DATA_FILE_SIZE,14237,135
$CAP_FILE_SIZE,29590,0
$CFSIZE,1024409600,929660928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280817,012109,6047.196,-17345.576,7,0.8,14,7.0,0.0,204.1,10,4.8