version: 66.13
glider: 401
mission: 22
dive: 1329
start: 8 19 117 11 12 6
data:
$ID,401
$MISSION,22
$DIVE,1329
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,190817,103111,6154.9639,-17410.1074,5,0.8,22,6.9,0.2,229.4,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-3.2
$GPS2,190817,103111,6154.9639,-17410.1074,5,0.8,22,6.9,0.2,229.4,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,135.0,26712,-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,-487.5,2398,1950,2343,4092,0.0,0.0,0,18,6.03,0.00,0.00,0.000,4097,0.024,0.000,1816,1950,2342,2342,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.30,52.83
$GC,22,-1.78,-487.5,1815,1949,2343,4094,0.1,0.0,1,35,0.22,0.00,-6.68,0.000,20486,0.044,0.000,1783,1950,3054,3054,4094,0,0,0,0,0,0,26.07,25.52,26.09,10.30,52.67
$GC,68,-1.78,-487.5,1782,1950,3055,4094,3.9,-13.7,8,74,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1950,3055,3055,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.45,52.79
$GC,107,-1.78,-487.5,1782,1949,3057,4094,10.8,-18.2,14,113,0.00,1.08,0.00,0.000,516,0.000,0.048,1783,1520,3057,3057,4095,0,0,0,0,0,0,26.27,25.96,26.29,10.45,53.11
$GC,152,-1.78,-487.5,1783,1520,3058,4095,19.4,-18.3,21,159,0.00,1.02,0.00,0.000,1030,0.000,0.029,1783,1945,3058,3058,4095,0,0,0,0,0,0,26.10,26.08,26.11,10.46,52.52
$GC,192,-1.78,-487.5,1782,1945,3060,4095,25.8,-15.5,27,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1945,3060,3060,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.43,52.04
$GC,231,-1.78,-487.5,1782,1946,3060,4095,31.1,-13.4,33,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1946,3060,3060,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.39,51.33
$GC,270,-1.78,-487.5,1782,1946,3061,4094,35.6,-11.7,39,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1947,3061,3061,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.38,50.51
$GC,309,-1.78,-487.5,1782,1947,3062,4094,40.3,-12.3,45,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1947,3062,3062,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.36,49.76
$GC,348,-1.78,-487.5,1782,1946,3063,4094,45.1,-12.8,51,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1947,3063,3063,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.35,48.93
$GC,387,-1.78,-487.5,1782,1947,3064,4094,50.0,-12.7,57,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1946,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.34,48.85
$GC,426,-1.78,-487.5,1782,1946,3065,4094,55.0,-13.1,63,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,1946,3065,3065,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.33,47.91
$GC,465,-1.78,-487.5,1782,1946,3066,4094,59.9,-13.0,69,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1946,3066,3066,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.33,48.14
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,485,-0.45,0.0,1783,2144,3066,4094,61.8,-12.5,71,521,4.32,0.00,28.15,1.322,10244,0.054,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.19,25.29,24.22,10.32,48.34
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$GC,526,1.78,487.5,2185,2143,2484,4094,64.6,0.0,77,568,7.45,1.15,27.95,1.294,10756,0.031,0.042,2893,1705,1916,1916,4094,0,0,0,0,0,0,25.51,25.46,23.81,10.20,46.92
$GC,629,1.78,487.5,2892,1704,1914,4094,55.2,13.4,93,635,0.00,1.08,0.00,0.000,1030,0.000,0.029,2893,2132,1914,1914,4094,0,0,0,0,0,0,25.45,25.44,25.47,10.06,46.49
$GC,669,1.78,487.5,2892,2132,1913,4094,49.5,13.3,99,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1913,1913,4094,0,0,0,0,0,0,25.79,25.80,25.80,10.06,46.37
$GC,708,1.78,487.5,2892,2132,1912,4094,44.3,13.1,105,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2133,1911,1911,4094,0,0,0,0,0,0,25.89,25.90,25.90,10.06,46.33
$GC,747,1.78,487.5,2892,2132,1911,4094,39.1,13.1,111,753,0.00,1.12,0.00,0.000,516,0.000,0.045,2893,1711,1911,1911,4095,0,0,0,0,0,0,25.97,25.67,25.98,10.05,46.53
$GC,840,1.78,487.5,2892,1710,1908,4095,26.9,12.6,126,847,0.00,1.05,0.00,0.000,1030,0.000,0.030,2893,2134,1907,1907,4095,0,0,0,0,0,0,25.89,25.85,25.91,10.05,47.71
$GC,880,1.78,487.5,2892,2134,1907,4095,22.5,10.7,132,887,0.00,1.12,0.00,0.000,516,0.000,0.045,2893,1709,1907,1907,4094,0,0,0,0,0,0,26.17,25.85,26.17,10.08,47.87
$GC,980,1.91,576.5,2892,1709,1905,4094,13.7,9.2,148,994,0.35,1.00,5.95,0.580,11270,0.035,0.029,2934,2120,1810,1810,4094,0,0,0,0,0,0,26.04,26.01,24.89,10.14,52.44
$GC,1027,1.97,618.8,2933,2119,1809,4094,9.1,9.9,155,1035,0.12,0.00,3.90,0.403,10246,0.063,0.000,2956,2120,1761,1761,4094,0,0,0,0,0,0,26.04,25.72,24.93,10.14,52.00
$GC,1068,1.97,618.8,2955,2119,1760,4094,4.6,11.0,161,1075,0.00,1.08,0.00,0.000,516,0.000,0.044,2956,1709,1760,1760,4094,0,0,0,0,0,0,26.25,25.92,26.25,10.13,52.63
$STATE,1092,end climb,SURFACE_DEPTH_REACHED
$STATE,1093,begin surface coast
$FINISH,0.3,1.023857
$STATE,1112,end surface coast,CONTROL_FINISHED_OK
$STATE,1112,begin surface
$SM_CCo,1215,0.00,0.000,0,0,1759,623.34
$SM_GC,0.76,28.62,0.60,0.00,0.021,0.029,0.000,230,1989,1759,-6.59,-1.18,623.34,0,0,0,0,0,0,26.03,26.09,26.08
$IRIDIUM_FIX,6149.06,-17422.35,190817,102358
$TT8_MAMPS,0.025466,0.102613
$HUMID,53.42
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.40
$XPDR_PINGS,0
$24V_AH,23.81,37.378
$10V_AH,10.37,38.256
$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,47.125,11.225,65.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,444.083,318.704,176.032,244.296,97.105,0.000,360.812,0.000,252.726,0.000,0.542,0.000
$DEVICE_MAMPS,62.730,48.195,1321.920,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,112.651,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10810,168
$CAP_FILE_SIZE,32267,0
$CFSIZE,1024409600,954187776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,113325,6154.493,-17409.660,5,0.9,24,6.9,0.2,214.3,10,4.9