version: 66.13
glider: 401
mission: 22
dive: 1940
start: 8 29 117 23 29 43
data:
$ID,401
$MISSION,22
$DIVE,1940
$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,33
$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
$GPS1,290817,230801,6029.0566,-17338.5117,5,0.8,17,7.1,0.7,1.1,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.2
$GPS2,290817,230801,6029.0566,-17338.5117,5,0.8,17,7.1,0.7,1.1,11,4.8
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W20S
$TGT_LATLONG,6006.060,-17319.020
$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,150.0,46235,-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,11,-1.82,-585.0,2388,1971,2375,4092,0.0,0.0,0,22,6.38,0.00,-2.00,0.000,20482,0.019,0.000,1760,1972,2591,2591,4095,0,0,0,0,0,0,26.20,28.83,26.25,10.35,52.87
$GC,27,-1.82,-585.0,1759,1972,2591,4095,0.1,0.0,1,37,0.00,1.23,-5.25,0.000,16900,0.000,1.257,1760,1528,3172,3172,4094,0,0,0,0,0,0,26.46,24.25,26.47,10.39,53.78
$GC,263,-1.82,-585.0,1759,1528,3178,4094,32.5,-13.4,35,272,0.00,1.00,0.00,0.000,1030,0.000,0.027,1759,1957,3178,3178,4094,0,0,0,0,0,0,26.28,26.25,26.29,10.46,51.61
$GC,311,-1.82,-585.0,1759,1957,3179,4094,38.9,-13.5,41,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1957,3179,3179,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.45,50.70
$GC,358,-1.82,-585.0,1759,1957,3180,4095,45.1,-13.3,47,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1957,3180,3180,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.44,49.60
$GC,405,-1.82,-585.0,1759,1957,3181,4095,51.7,-14.0,53,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1957,3182,3182,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.43,49.29
$GC,452,-1.82,-585.0,1759,1957,3183,4095,58.2,-14.0,59,461,0.00,1.08,0.00,0.000,260,0.000,0.046,1759,2370,3183,3183,4094,0,0,0,0,0,0,26.61,26.15,26.63,10.42,49.13
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,480,-0.45,0.0,1759,2115,3183,4095,61.1,-13.3,61,525,4.57,0.00,33.45,1.332,10244,0.052,0.000,2186,2113,2488,2488,4095,0,0,0,0,0,0,26.19,24.91,24.13,10.42,48.77
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,531,1.82,585.0,2186,2113,2488,4095,64.7,0.0,66,575,7.62,0.00,33.65,1.291,11270,0.030,0.000,2903,2113,1802,1802,4094,0,0,0,0,0,0,25.54,25.71,23.72,10.27,47.44
$GC,616,1.82,585.0,2902,2113,1801,4094,58.0,12.8,76,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2113,1801,1801,4094,0,0,0,0,0,0,25.49,25.51,25.51,10.12,46.65
$GC,665,1.82,585.0,2902,2113,1800,4094,51.5,13.3,82,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2113,1799,1799,4094,0,0,0,0,0,0,25.73,25.75,25.74,10.11,46.92
$GC,714,1.82,585.0,2902,2112,1798,4094,45.1,13.0,88,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2112,1797,1797,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.11,46.85
$GC,763,1.82,585.0,2902,2112,1796,4094,38.7,12.8,94,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2113,1796,1796,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.11,47.83
$GC,812,1.82,585.0,2902,2112,1795,4094,32.3,12.7,100,822,0.00,0.95,0.00,0.000,516,0.000,0.045,2903,1745,1795,1795,4095,0,0,0,0,0,0,26.10,25.70,26.11,10.10,47.59
$GC,997,1.82,585.0,2902,1744,1790,4095,11.9,11.3,126,1005,0.00,0.95,0.00,0.000,1030,0.000,0.031,2903,2134,1789,1789,4094,0,0,0,0,0,0,26.06,25.98,26.04,10.18,51.57
$GC,1046,1.82,585.0,2902,2134,1788,4094,5.9,11.6,132,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1788,1788,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.19,52.08
$STATE,1081,end climb,FINISH_DEPTH_REACHED
$STATE,1081,begin subsurface finish
$FINISH1,1.9,1.024154,101
$GC,1093,0.15,100.7,2903,2134,1787,4094,1.9,9.6,137,1112,5.32,0.00,-5.18,0.000,20486,0.033,0.000,2389,2136,2369,2369,4094,0,0,0,0,0,0,26.12,25.44,26.17,10.20,53.15
$FINISH2,0.3
$STATE,1113,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1113,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,290817,214933
$TT8_MAMPS,0.026215,0.249417
$HUMID,53.74
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.72,56.109
$10V_AH,10.13,52.887
$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,23.900,6.175,67.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.428,0.000,106.931,577.588,104.616,0.000,320.185,0.000,338.591,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1256.895,1331.865,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.692,377.614,298.930,442.837,575.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,14275,139
$CAP_FILE_SIZE,22754,0
$CFSIZE,1024409600,924155904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290817,230801,6029.057,-17338.512,5,0.8,17,7.1,0.7,1.1,11,4.8