version: 66.13
glider: 401
mission: 22
dive: 1236
start: 8 17 117 22 1 28
data:
$ID,401
$MISSION,22
$DIVE,1236
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,170817,212103,6205.4868,-17429.9648,5,0.8,28,6.7,0.3,77.0,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.1
$GPS2,170817,212103,6205.4868,-17429.9648,5,0.8,28,6.7,0.3,77.0,10,4.1
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$TGT_LATLONG,6156.580,-17421.840
$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,150.1,17950,-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,10,-1.78,-487.5,2402,1953,2343,4092,0.0,0.0,0,20,6.50,0.00,-1.62,0.000,20482,0.024,0.000,1774,1954,2515,2515,4094,0,0,0,0,0,0,26.11,28.83,26.16,10.28,53.54
$GC,24,-1.78,-487.5,1773,1953,2515,4094,0.1,0.0,1,34,0.00,1.20,-5.22,0.000,16900,0.000,1.285,1773,1516,3056,3056,4095,0,0,0,0,0,0,26.34,24.63,26.34,10.33,53.62
$GC,198,-1.78,-487.5,1772,1516,3060,4095,23.8,-13.5,26,207,0.00,1.02,0.00,0.000,1030,0.000,0.028,1773,1950,3061,3061,4093,0,0,0,0,0,0,26.20,26.17,26.22,10.41,53.18
$GC,245,-1.78,-487.5,1773,1950,3062,4093,29.9,-12.1,32,254,0.00,1.10,0.00,0.000,260,0.000,0.047,1773,2373,3062,3062,4095,0,0,0,0,0,0,26.44,26.13,26.45,10.38,52.36
$GC,369,-1.78,-487.5,1772,2373,3065,4095,45.3,-12.0,50,379,0.00,1.02,0.00,0.000,1030,0.000,0.030,1773,1962,3065,3065,4095,0,0,0,0,0,0,26.26,26.22,26.28,10.34,49.09
$GC,417,-1.78,-487.5,1772,1962,3066,4095,51.2,-12.7,56,425,0.00,1.12,0.00,0.000,516,0.000,0.052,1773,1520,3066,3066,4095,0,0,0,0,0,0,26.51,26.20,26.53,10.32,48.77
$STATE,485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,485,begin apogee
$GC,495,-0.45,0.0,1773,2135,3067,4095,60.5,-13.3,66,531,4.43,0.00,28.42,1.313,10244,0.055,0.000,2184,2134,2484,2484,4094,0,0,0,0,0,0,26.24,25.33,24.26,10.32,48.22
$STATE,532,end apogee,CONTROL_FINISHED_OK
$STATE,532,begin climb
$GC,536,1.78,487.5,2184,2134,2484,4094,63.7,0.0,70,580,7.60,0.00,27.95,1.281,11270,0.032,0.000,2893,2135,1919,1919,4094,0,0,0,0,0,0,25.59,25.75,23.83,10.19,47.63
$GC,619,1.78,487.5,2892,2135,1918,4094,56.7,12.5,80,629,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1716,1918,1918,4094,0,0,0,0,0,0,25.58,25.29,25.60,10.07,45.90
$GC,757,1.78,487.5,2892,1715,1914,4094,38.1,13.6,100,766,0.00,1.05,0.00,0.000,1030,0.000,0.030,2893,2137,1914,1914,4094,0,0,0,0,0,0,25.75,25.73,25.77,10.05,46.88
$GC,804,1.78,487.5,2892,2137,1912,4094,32.4,12.0,106,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2137,1912,1912,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.04,46.85
$GC,852,1.78,487.5,2892,2137,1911,4094,26.7,12.0,112,861,0.00,1.12,0.00,0.000,516,0.000,0.045,2893,1714,1911,1911,4094,0,0,0,0,0,0,26.11,25.81,26.13,10.05,47.59
$GC,892,1.78,487.5,2893,1713,1910,4094,21.7,11.5,117,902,0.00,1.00,0.00,0.000,1030,0.000,0.031,2893,2120,1910,1910,4094,0,0,0,0,0,0,25.94,25.91,25.97,10.05,47.40
$GC,939,1.93,587.4,2892,2119,1909,4094,17.1,9.1,123,950,0.40,0.00,6.72,0.639,10246,0.037,0.000,2938,2120,1797,1797,4094,0,0,0,0,0,0,26.00,25.66,24.84,10.11,49.13
$GC,989,1.97,616.4,2938,2119,1796,4094,12.5,10.1,129,999,0.10,0.00,3.30,0.343,10246,0.076,0.000,2957,2120,1763,1763,4094,0,0,0,0,0,0,25.98,25.44,24.89,10.11,51.53
$GC,1038,1.97,616.4,2957,2119,1762,4094,7.1,11.3,135,1048,0.00,1.08,0.00,0.000,516,0.000,0.047,2958,1714,1762,1762,4094,0,0,0,0,0,0,26.20,25.88,26.22,10.12,51.41
$STATE,1083,end climb,SURFACE_DEPTH_REACHED
$STATE,1083,begin surface coast
$FINISH,0.0,1.012213
$STATE,1106,end surface coast,CONTROL_FINISHED_OK
$STATE,1106,begin surface
$SM_CCo,1209,0.00,0.000,0,0,1760,623.34
$SM_GC,0.82,28.75,0.57,0.00,0.022,0.030,0.000,230,1986,1760,-6.59,-1.46,623.34,0,0,0,0,0,0,25.98,26.08,26.06
$IRIDIUM_FIX,6149.06,-17422.35,170817,200507
$TT8_MAMPS,0.025466,0.241927
$HUMID,52.99
$INTERNAL_PRESSURE,10.0821
$TCM_TEMP,2.20
$XPDR_PINGS,0
$24V_AH,23.83,34.666
$10V_AH,10.13,36.075
$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,47.775,13.500,66.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,411.916,60.109,126.144,600.123,75.713,0.000,333.468,0.000,351.141,0.000,0.541,0.000
$DEVICE_MAMPS,76.500,1285.200,1312.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.250,391.237,309.581,459.415,598.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,14274,144
$CAP_FILE_SIZE,26533,0
$CFSIZE,1024409600,958758912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170817,222238,6205.286,-17430.221,4,0.9,22,6.7,0.8,294.2,9,5.0