version: 66.13
glider: 401
mission: 22
dive: 1489
start: 8 22 117 5 19 26
data:
$ID,401
$MISSION,22
$DIVE,1489
$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,29
$R_STBD_OVSHOOT,20
$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
$GPS1,220817,050919,6133.4819,-17353.6875,8,0.7,17,7.0,0.6,50.4,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-40.7
$GPS2,220817,051850,6133.5479,-17353.5938,7,0.7,47,7.0,0.6,26.1,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W16S
$TGT_LATLONG,6124.660,-17344.160
$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,146.1,18462,-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,-487.5,230,1938,1836,4092,0.0,0.0,0,18,5.78,0.00,0.00,0.000,2049,0.095,0.000,719,1939,1836,1836,4094,0,0,0,0,0,0,26.25,28.83,28.83,10.26,50.82
$GC,22,-1.78,-487.5,719,1939,1835,4094,0.8,0.0,1,53,11.38,1.25,-11.23,0.000,18692,0.052,1.248,1764,2387,3058,3058,4095,0,0,0,0,0,0,25.94,24.37,26.01,10.25,50.82
$GC,168,-1.78,-487.5,1763,2386,3061,4095,17.5,-18.5,24,175,0.00,1.10,0.00,0.000,1030,0.000,0.029,1764,1945,3061,3061,4095,0,0,0,0,0,0,26.01,25.98,26.04,10.53,50.15
$GC,208,-1.78,-487.5,1763,1946,3062,4095,24.6,-16.3,30,215,0.00,1.05,0.00,0.000,516,0.000,0.050,1763,1529,3063,3063,4094,0,0,0,0,0,0,26.32,25.96,26.32,10.52,50.35
$GC,248,-1.78,-487.5,1763,1529,3064,4094,30.7,-15.3,36,255,0.00,1.02,0.00,0.000,1030,0.000,0.027,1764,1961,3063,3063,4095,0,0,0,0,0,0,26.12,26.06,26.14,10.50,49.92
$GC,289,-1.78,-487.5,1763,1961,3065,4095,36.2,-13.5,42,295,0.00,1.08,0.00,0.000,260,0.000,0.046,1764,2371,3065,3065,4094,0,0,0,0,0,0,26.38,26.03,26.39,10.46,48.93
$GC,347,-1.78,-487.5,1763,2371,3066,4094,43.6,-12.6,51,353,0.00,1.00,0.00,0.000,1030,0.000,0.028,1764,1974,3066,3066,4094,0,0,0,0,0,0,26.17,26.14,26.19,10.41,48.11
$GC,387,-1.78,-487.5,1763,1973,3067,4094,48.8,-12.8,57,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1974,3067,3067,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.40,47.32
$GC,426,-1.78,-487.5,1763,1973,3068,4095,53.9,-13.3,63,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1974,3068,3068,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.39,46.29
$GC,466,-1.78,-487.5,1763,1974,3069,4094,59.0,-12.7,69,472,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1974,3069,3069,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.38,45.51
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,486,-0.45,0.0,1764,2146,3069,4094,61.0,-14.1,71,522,4.55,0.00,28.23,1.306,10244,0.054,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.14,25.27,24.24,10.38,45.66
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,527,1.78,487.5,2185,2146,2484,4094,64.1,0.0,77,569,7.47,0.00,27.98,1.277,11270,0.030,0.000,2890,2147,1914,1914,4094,0,0,0,0,0,0,25.56,25.71,23.85,10.26,45.62
$GC,603,1.78,487.5,2890,2146,1914,4094,57.5,12.8,89,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2147,1913,1913,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.13,44.44
$GC,642,1.78,487.5,2890,2146,1913,4094,52.4,13.2,95,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2147,1913,1913,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.11,44.44
$GC,682,1.78,487.5,2890,2146,1911,4094,47.1,14.0,101,688,0.00,1.17,0.00,0.000,516,0.000,0.044,2891,1708,1911,1911,4094,0,0,0,0,0,0,25.84,25.52,25.86,10.11,44.56
$GC,782,1.78,487.5,2890,1707,1908,4094,33.8,12.7,117,788,0.00,1.05,0.00,0.000,1030,0.000,0.029,2891,2133,1908,1908,4095,0,0,0,0,0,0,25.82,25.79,25.84,10.10,45.39
$GC,822,1.78,487.5,2890,2132,1907,4095,29.1,11.5,123,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1907,1907,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.10,46.73
$GC,861,1.78,487.5,2890,2132,1906,4094,24.6,11.5,129,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2133,1906,1906,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.15,47.08
$GC,901,1.78,487.5,2890,2132,1905,4094,20.1,11.4,135,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2133,1904,1904,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.17,48.89
$GC,940,1.78,487.5,2890,2132,1904,4094,15.5,11.5,141,946,0.00,1.12,0.00,0.000,516,0.000,0.045,2890,1706,1904,1904,4094,0,0,0,0,0,0,26.26,25.91,26.27,10.17,50.19
$GC,1034,1.85,535.2,2890,1706,1901,4094,6.0,9.8,156,1043,0.17,1.02,3.75,0.368,11270,0.045,0.029,2915,2129,1858,1858,4094,0,0,0,0,0,0,26.06,26.06,24.92,10.21,52.00
$STATE,1073,end climb,FINISH_DEPTH_REACHED
$STATE,1073,begin subsurface finish
$FINISH1,1.5,1.024046,108
$GC,1083,0.16,108.3,2914,2129,1857,4094,1.5,11.4,162,1098,5.38,1.25,-4.47,0.000,20740,0.023,1.271,2392,2560,2363,2363,4095,0,0,0,0,0,0,26.10,24.50,26.15,10.20,52.79
$FINISH2,0.1
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1099,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,040106
$TT8_MAMPS,0.025466,0.133322
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.85,42.166
$10V_AH,10.34,42.097
$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,34.725,12.550,59.950,0.000,0.000,22.697,18.439,279.022,0.000,0.000,48.448,432.463,253.157,152.852,568.025,274.272,0.000,338.297,0.000,248.536,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,1270.665,1305.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329284
$DATA_FILE_SIZE,10769,164
$CAP_FILE_SIZE,33418,0
$CFSIZE,1024409600,946307072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220817,051850,6133.548,-17353.594,7,0.7,47,7.0,0.6,26.1,11,4.9