version: 66.13
glider: 401
mission: 22
dive: 1524
start: 8 22 117 19 15 13
data:
$ID,401
$MISSION,22
$DIVE,1524
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,220817,183427,6127.3760,-17350.6113,11,0.9,18,7.0,0.0,326.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-3.1
$GPS2,220817,183427,6127.3760,-17350.6113,11,0.9,18,7.0,0.0,326.1,9,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W17S
$TGT_LATLONG,6103.960,-17349.740
$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,172.0,43373,-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,-487.5,2394,1951,2361,4092,0.0,0.0,0,21,6.40,0.00,-2.30,0.000,20482,0.024,0.000,1771,1951,2607,2607,4094,0,0,0,0,0,0,26.16,28.83,26.20,10.30,54.76
$GC,26,-1.78,-487.5,1770,1951,2607,4094,0.1,0.0,1,35,0.00,0.00,-4.28,0.000,16646,0.000,0.000,1771,1951,3056,3056,4095,0,0,0,0,0,0,26.39,24.74,26.39,10.35,53.93
$GC,73,-1.78,-487.5,1770,1951,3056,4095,3.9,-13.4,7,82,0.00,1.15,0.00,0.000,260,0.000,0.046,1771,2374,3057,3057,4095,0,0,0,0,0,0,26.34,26.02,26.35,10.45,54.29
$GC,140,-1.78,-487.5,1770,2374,3059,4095,15.7,-17.5,16,149,0.00,1.08,0.00,0.000,1030,0.000,0.032,1771,1945,3059,3059,4095,0,0,0,0,0,0,26.12,26.06,26.13,10.46,53.66
$GC,188,-1.78,-487.5,1770,1945,3060,4095,23.0,-15.1,22,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3060,3060,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.43,52.99
$GC,234,-1.78,-487.5,1770,1945,3061,4095,28.9,-12.5,28,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3061,3061,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.40,52.91
$GC,280,-1.78,-487.5,1770,1945,3062,4094,34.7,-12.9,34,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3062,3062,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.38,51.49
$GC,327,-1.78,-487.5,1770,1945,3063,4094,40.3,-12.0,40,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3064,3064,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.37,50.47
$GC,375,-1.78,-487.5,1770,1945,3064,4095,45.9,-12.3,46,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.35,49.44
$GC,423,-1.78,-487.5,1770,1945,3065,4095,52.1,-12.9,52,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3066,3066,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.34,48.89
$GC,471,-1.78,-487.5,1770,1945,3067,4094,58.4,-13.3,58,480,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1946,3067,3067,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.34,48.22
$STATE,488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,488,begin apogee
$GC,498,-0.45,0.0,1770,2144,3067,4095,61.3,-13.5,60,534,4.47,0.00,28.42,1.338,10244,0.054,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.20,25.32,24.27,10.33,48.34
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,539,1.78,487.5,2186,2144,2484,4094,64.7,0.0,64,584,7.57,0.00,28.12,1.302,11270,0.032,0.000,2893,2144,1915,1915,4094,0,0,0,0,0,0,25.58,25.74,23.84,10.20,47.40
$GC,624,1.78,487.5,2892,2144,1914,4094,58.1,12.5,74,633,0.00,1.15,0.00,0.000,516,0.000,0.045,2893,1716,1914,1914,4094,0,0,0,0,0,0,25.57,25.32,25.58,10.07,46.37
$GC,705,1.78,487.5,2892,1715,1912,4094,47.4,13.0,85,714,0.00,1.02,0.00,0.000,1030,0.000,0.031,2893,2125,1911,1911,4094,0,0,0,0,0,0,25.62,25.62,25.64,10.06,46.57
$GC,753,1.78,487.5,2893,2125,1911,4094,41.0,13.4,91,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1910,1910,4095,0,0,0,0,0,0,25.96,25.98,25.98,10.06,46.88
$GC,801,1.78,487.5,2893,2126,1908,4095,34.3,14.1,97,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1908,1908,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.06,47.28
$GC,850,1.78,487.5,2892,2125,1907,4094,28.0,12.7,103,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1907,1907,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.06,47.79
$GC,898,1.78,487.5,2892,2125,1906,4094,22.1,12.8,109,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1905,1905,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.08,47.87
$GC,946,1.78,487.5,2892,2125,1905,4094,16.5,10.7,115,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2126,1904,1904,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.12,49.88
$GC,994,1.83,522.5,2893,2125,1903,4094,11.7,10.0,121,1003,0.10,0.00,3.20,0.329,10246,0.078,0.000,2909,2125,1874,1874,4094,0,0,0,0,0,0,26.06,25.79,24.76,10.14,51.26
$GC,1043,1.96,608.5,2909,2126,1873,4094,6.9,9.3,127,1054,0.32,0.00,6.18,0.540,10246,0.037,0.000,2947,2125,1772,1772,4094,0,0,0,0,0,0,26.06,25.67,24.87,10.15,52.16
$GC,1094,2.09,697.5,2947,2125,1771,4094,2.5,9.2,133,1103,0.40,0.00,6.20,0.500,10246,0.033,0.000,2991,2125,1670,1670,4094,0,0,0,0,0,0,26.05,25.65,24.89,10.15,52.71
$STATE,1111,end climb,SURFACE_DEPTH_REACHED
$STATE,1111,begin surface coast
$FINISH,0.1,1.011935
$STATE,1133,end surface coast,CONTROL_FINISHED_OK
$STATE,1133,begin surface
$SM_CCo,1237,0.00,0.000,0,0,1669,700.62
$SM_GC,0.93,29.08,0.45,0.00,0.020,0.046,0.000,230,1949,1669,-6.59,1.46,700.62,0,0,0,0,0,0,25.91,25.96,25.99
$IRIDIUM_FIX,6149.06,-17422.35,220817,171843
$TT8_MAMPS,0.025466,0.244923
$HUMID,53.30
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.84,43.149
$10V_AH,10.12,42.925
$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,48.350,5.850,72.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,406.746,59.833,150.400,576.650,109.818,0.000,389.453,0.000,336.741,0.000,0.541,0.000
$DEVICE_MAMPS,78.030,48.960,1337.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.116,374.984,296.710,440.016,573.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,14358,138
$CAP_FILE_SIZE,29895,0
$CFSIZE,1024409600,944603136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,193654,6126.770,-17350.035,3,0.7,23,7.0,0.3,111.6,10,4.9