version: 66.13
glider: 401
mission: 22
dive: 1533
start: 8 22 117 23 3 26
data:
$ID,401
$MISSION,22
$DIVE,1533
$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,31
$R_STBD_OVSHOOT,64
$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
$GPS1,220817,222121,6125.1489,-17349.6250,4,0.9,17,7.0,0.0,160.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.2
$GPS2,220817,222121,6125.1489,-17349.6250,4,0.9,17,7.0,0.0,160.0,9,4.9
$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,173.2,39242,-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,-487.5,2393,2003,2354,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,4097,0.024,0.000,1841,2003,2354,2354,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.31,52.95
$GC,22,-1.78,-487.5,1841,2003,2354,4094,0.1,0.0,1,36,0.47,1.35,-6.55,0.000,20996,0.037,1.270,1790,1529,3057,3057,4094,0,0,0,0,0,0,26.07,24.47,26.10,10.32,53.15
$GC,173,-1.78,-487.5,1790,1529,3061,4094,18.3,-15.1,25,179,0.00,0.90,0.00,0.000,1030,0.000,0.028,1790,1915,3061,3061,4095,0,0,0,0,0,0,26.14,26.11,26.16,10.47,52.67
$GC,213,-1.78,-487.5,1789,1914,3062,4095,24.5,-15.1,31,220,0.00,1.17,0.00,0.000,260,0.000,0.047,1790,2366,3062,3062,4095,0,0,0,0,0,0,26.40,26.03,26.41,10.45,52.52
$GC,295,-1.78,-487.5,1789,2365,3064,4095,34.7,-11.4,44,302,0.00,0.98,0.00,0.000,1030,0.000,0.030,1790,1979,3064,3064,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.40,51.89
$GC,336,-1.78,-487.5,1789,1979,3064,4094,39.3,-11.4,50,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,1979,3064,3064,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.38,50.15
$GC,375,-1.78,-487.5,1789,1979,3066,4094,44.1,-11.9,56,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1980,3066,3066,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.38,49.60
$GC,414,-1.78,-487.5,1789,1979,3066,4094,48.9,-12.0,62,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1979,3066,3066,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.36,48.93
$GC,454,-1.78,-487.5,1789,1979,3067,4095,53.8,-12.6,68,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1980,3067,3067,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.35,48.18
$GC,493,-1.78,-487.5,1789,1979,3068,4094,58.7,-12.3,74,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1979,3068,3068,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.35,47.83
$STATE,504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,514,-0.45,0.0,1789,2143,3069,4095,60.6,-12.5,76,550,4.25,0.00,28.27,1.314,10244,0.053,0.000,2185,2143,2484,2484,4095,0,0,0,0,0,0,26.19,25.32,24.28,10.34,48.03
$STATE,551,end apogee,CONTROL_FINISHED_OK
$STATE,551,begin climb
$GC,555,1.78,487.5,2185,2143,2484,4095,63.4,0.0,82,597,7.53,0.00,27.90,1.281,11270,0.031,0.000,2892,2143,1915,1915,4094,0,0,0,0,0,0,25.58,25.75,23.87,10.22,47.71
$GC,631,1.78,487.5,2891,2143,1914,4094,57.3,12.1,94,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2143,1914,1914,4094,0,0,0,0,0,0,25.54,25.56,25.56,10.09,46.06
$GC,670,1.78,487.5,2891,2142,1913,4094,52.1,12.7,100,677,0.00,1.17,0.00,0.000,516,0.000,0.044,2892,1707,1913,1913,4095,0,0,0,0,0,0,25.72,25.39,25.72,10.08,46.53
$GC,740,1.78,487.5,2892,1706,1912,4095,43.0,13.0,111,747,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2120,1910,1910,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.08,47.32
$GC,781,1.78,487.5,2891,2119,1910,4094,37.8,13.2,117,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1909,1909,4095,0,0,0,0,0,0,26.00,26.01,26.01,10.06,46.65
$GC,820,1.78,487.5,2892,2119,1908,4095,32.9,12.1,123,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2120,1908,1908,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.07,47.83
$GC,860,1.78,487.5,2891,2119,1907,4094,28.2,12.1,129,866,0.00,1.23,0.00,0.000,260,0.000,0.054,2892,2571,1906,1906,4094,0,0,0,0,0,0,26.12,25.75,26.13,10.07,48.14
$GC,888,1.78,487.5,2892,2571,1906,4094,24.9,11.6,133,895,0.00,1.12,0.00,0.000,1030,0.000,0.028,2892,2122,1906,1906,4094,0,0,0,0,0,0,25.92,25.89,25.94,10.08,47.95
$GC,929,1.87,550.5,2891,2122,1905,4094,20.7,9.6,139,936,0.22,0.00,4.78,0.555,10246,0.049,0.000,2923,2120,1841,1841,4094,0,0,0,0,0,0,25.98,25.58,24.67,10.11,48.66
$GC,970,1.87,550.5,2923,2119,1840,4094,16.2,10.9,145,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2120,1840,1840,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,50.47
$GC,1010,1.87,550.5,2923,2119,1838,4094,11.7,11.4,151,1016,0.00,1.05,0.00,0.000,516,0.000,0.048,2924,1717,1838,1838,4094,0,0,0,0,0,0,26.24,25.88,26.25,10.14,52.00
$STATE,1100,end climb,SURFACE_DEPTH_REACHED
$STATE,1100,begin surface coast
$FINISH,0.2,1.023939
$STATE,1119,end surface coast,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$SM_CCo,1223,0.00,0.000,0,0,1835,558.09
$SM_GC,1.00,28.23,0.57,0.00,0.020,0.029,0.000,230,1971,1835,-6.59,-1.28,558.09,0,0,0,0,0,0,26.02,26.13,26.09
$IRIDIUM_FIX,6149.06,-17422.35,220817,210224
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.89
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.87,43.420
$10V_AH,10.37,43.132
$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,46.325,11.550,60.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,446.869,329.538,163.908,245.316,103.657,0.000,344.475,0.000,253.986,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1269.900,1313.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.589,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,10839,169
$CAP_FILE_SIZE,30670,0
$CFSIZE,1024409600,944160768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,232443,6124.343,-17350.164,3,0.8,14,7.0,0.0,239.6,11,4.6