version: 66.13
glider: 401
mission: 22
dive: 1017
start: 8 14 117 4 8 47
data:
$ID,401
$MISSION,22
$DIVE,1017
$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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,31
$R_STBD_OVSHOOT,69
$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
$GPS1,140817,032500,6131.5103,-17349.5234,10,0.7,17,7.0,0.0,249.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-0.7
$GPS2,140817,032500,6131.5103,-17349.5234,10,0.7,17,7.0,0.0,249.9,11,4.8
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W11N
$TGT_LATLONG,6143.620,-17351.301
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.008498,0.688980
$KALMAN_X,63437.320312,-382.620911,-210.608032,-256015.546875,-37.355682
$KALMAN_Y,-59701.160156,2514.115479,792.527039,308635.750000,-158.168701
$MHEAD_RNG_PITCHd_Wd,352.3,22482,-3.5,-10.526,-8.69,27939
$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,-1.05,-487.5,2393,1979,2358,4092,0.0,0.0,0,18,3.90,0.00,-2.88,0.000,20482,0.024,0.000,2007,1979,2668,2668,4094,0,0,0,0,0,0,26.06,28.83,26.11,10.29,52.63
$GC,22,-1.05,-487.5,2007,1978,2668,4094,0.1,0.0,1,29,0.00,0.00,-3.60,0.000,16390,0.000,0.000,2008,1979,3057,3057,4094,0,0,0,0,0,0,26.28,24.98,26.29,10.36,52.52
$GC,62,-1.05,-487.5,2007,1979,3058,4094,2.3,-8.6,7,68,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3058,3058,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.44,52.44
$GC,100,-1.05,-487.5,2007,1978,3059,4094,5.7,-8.6,13,106,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3059,3059,4095,0,0,0,0,0,0,26.32,26.34,26.33,10.45,52.40
$GC,139,-1.05,-487.5,2006,1979,3059,4095,9.1,-8.8,19,145,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3059,3059,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.45,52.24
$GC,178,-1.05,-487.5,2007,1979,3059,4095,12.9,-10.0,25,184,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3060,3060,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.46,51.92
$GC,216,-1.05,-487.5,2007,1978,3061,4095,16.7,-9.2,31,222,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3061,3061,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.46,52.08
$GC,255,-1.05,-487.5,2006,1979,3061,4095,19.9,-7.4,37,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3061,3061,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.46,51.96
$GC,294,-1.05,-487.5,2006,1979,3062,4094,22.8,-7.6,43,300,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1978,3062,3062,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.47,51.85
$GC,333,-1.05,-487.5,2007,1978,3062,4095,25.3,-6.0,49,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3062,3062,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.45,51.81
$GC,372,-1.05,-487.5,2007,1979,3063,4094,27.8,-7.3,55,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.42,51.45
$GC,410,-1.05,-487.5,2007,1979,3063,4095,31.7,-9.9,61,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3064,3064,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.39,51.33
$GC,449,-1.05,-487.5,2007,1979,3064,4094,35.6,-10.5,67,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,1979,3064,3064,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.38,50.00
$GC,487,-1.05,-487.5,2007,1978,3065,4094,39.6,-10.2,73,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1979,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.37,48.26
$GC,526,-1.05,-487.5,2007,1979,3066,4095,43.5,-10.0,79,533,0.00,0.93,0.00,0.000,260,0.000,0.039,2007,2337,3066,3066,4094,0,0,0,0,0,0,26.55,26.27,26.55,10.36,48.26
$GC,589,-1.05,-487.5,2007,2337,3067,4094,50.1,-10.6,89,596,0.00,1.05,0.00,0.000,1030,0.000,0.033,2007,1920,3067,3067,4094,0,0,0,0,0,0,26.34,26.29,26.36,10.34,46.88
$GC,629,-1.05,-487.5,2006,1919,3068,4094,54.2,-10.7,95,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,1920,3068,3068,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.34,46.65
$GC,667,-1.05,-487.5,2005,1920,3068,4095,58.3,-10.2,101,674,0.00,1.10,0.00,0.000,260,0.000,0.037,2007,2341,3068,3068,4095,0,0,0,0,0,0,26.59,26.31,26.60,10.33,46.37
$STATE,685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,686,begin apogee
$GC,693,-0.45,0.0,2007,2112,3069,4095,60.4,-10.4,104,729,1.62,0.00,28.08,1.311,10244,0.032,0.000,2176,2113,2484,2484,4094,0,0,0,0,0,0,26.36,25.40,24.34,10.33,46.29
$STATE,730,end apogee,CONTROL_FINISHED_OK
$STATE,730,begin climb
$GC,733,1.05,487.5,2176,2112,2484,4094,64.1,0.0,110,775,5.10,0.95,27.95,1.296,10756,0.035,0.042,2663,1736,1915,1915,4094,0,0,0,0,0,0,25.61,25.56,23.89,10.20,45.98
$GC,840,1.34,681.4,2662,1735,1913,4094,57.1,9.8,127,860,0.88,0.90,11.95,1.099,11270,0.030,0.027,2753,2107,1690,1690,4094,0,0,0,0,0,0,25.51,25.51,24.11,10.07,45.27
$GC,893,1.34,681.4,2752,2107,1689,4094,51.1,11.8,135,899,0.00,1.25,0.00,0.000,260,0.000,0.052,2752,2561,1689,1689,4094,0,0,0,0,0,0,25.67,25.38,25.69,10.02,45.62
$GC,956,1.34,681.4,2752,2560,1687,4094,43.6,12.0,145,963,0.00,1.00,0.00,0.000,1030,0.000,0.027,2753,2150,1687,1687,4094,0,0,0,0,0,0,25.68,25.65,25.69,10.01,46.73
$GC,995,1.34,681.4,2752,2149,1686,4094,39.0,11.4,151,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2150,1686,1686,4095,0,0,0,0,0,0,25.94,25.96,25.96,10.00,46.81
$GC,1034,1.34,681.4,2752,2150,1685,4095,34.3,12.5,157,1040,0.00,1.10,0.00,0.000,516,0.000,0.045,2753,1726,1685,1685,4094,0,0,0,0,0,0,26.01,25.73,26.03,10.00,46.73
$GC,1271,1.34,681.4,2752,1725,1679,4094,6.0,12.2,196,1278,0.00,1.10,0.00,0.000,1030,0.000,0.029,2752,2173,1678,1678,4094,0,0,0,0,0,0,26.07,26.03,26.09,10.10,53.34
$STATE,1308,end climb,SURFACE_DEPTH_REACHED
$STATE,1308,begin surface coast
$FINISH,0.1,1.017442
$STATE,1327,end surface coast,CONTROL_FINISHED_OK
$STATE,1327,begin surface
$SM_CCo,1426,0.00,0.000,0,0,1676,694.61
$SM_GC,0.88,26.23,0.55,0.00,0.021,0.051,0.000,230,1968,1676,-6.59,1.87,694.61,0,0,0,0,0,0,25.98,26.06,26.10
$IRIDIUM_FIX,6149.06,-17422.35,140817,015555
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.05
$INTERNAL_PRESSURE,10.0625
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.89,28.081
$10V_AH,10.39,30.784
$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,37.725,10.950,67.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,532.120,393.247,180.809,298.475,85.467,33.419,392.983,0.000,304.858,0.000,0.541,0.000
$DEVICE_MAMPS,35.190,52.020,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,138.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14297,205
$CAP_FILE_SIZE,36519,0
$CFSIZE,1024409600,969506816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140817,043324,6131.868,-17350.150,2,0.9,13,7.0,0.4,282.8,10,4.6