version: 66.13
glider: 401
mission: 22
dive: 1692
start: 8 25 117 17 27 21
data:
$ID,401
$MISSION,22
$DIVE,1692
$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,16
$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
$GPS1,250817,164501,6104.3179,-17354.6875,8,0.8,23,7.0,0.5,265.5,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.5
$GPS2,250817,164501,6104.3179,-17354.6875,8,0.8,23,7.0,0.5,265.5,11,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W18S
$TGT_LATLONG,6044.340,-17338.881
$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,151.9,39670,-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,6,begin dive
$GC,11,-1.78,-487.5,2390,1954,2374,4092,0.0,0.0,0,22,6.32,0.00,-2.05,0.000,20482,0.024,0.000,1775,1954,2599,2599,4094,0,0,0,0,0,0,26.06,28.83,26.12,10.34,53.18
$GC,27,-1.78,-487.5,1774,1954,2599,4094,0.1,0.0,1,37,0.00,1.20,-4.25,0.000,16644,0.000,1.241,1775,2377,3057,3057,4095,0,0,0,0,0,0,26.33,24.38,26.34,10.39,53.03
$GC,248,-1.78,-487.5,1774,2377,3062,4095,22.2,-11.0,33,257,0.00,1.10,0.00,0.000,1030,0.000,0.032,1774,1943,3062,3062,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.49,52.67
$GC,296,-1.78,-487.5,1774,1943,3063,4094,27.2,-10.8,39,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1943,3063,3063,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.48,52.00
$GC,343,-1.78,-487.5,1774,1942,3064,4095,31.8,-9.7,45,353,0.00,1.15,0.00,0.000,260,0.000,0.040,1774,2375,3064,3064,4094,0,0,0,0,0,0,26.49,26.16,26.51,10.46,52.16
$GC,605,-1.78,-487.5,1773,2376,3069,4094,58.0,-10.0,83,615,0.00,1.02,0.00,0.000,1030,0.000,0.031,1774,1962,3069,3069,4095,0,0,0,0,0,0,26.31,26.27,26.33,10.40,48.34
$STATE,622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,633,-0.45,0.0,1774,2148,3069,4095,60.3,-10.0,85,669,4.40,0.00,28.23,1.294,10244,0.054,0.000,2186,2148,2483,2483,4094,0,0,0,0,0,0,26.22,25.39,24.37,10.39,48.46
$STATE,670,end apogee,CONTROL_FINISHED_OK
$STATE,670,begin climb
$GC,675,1.78,487.5,2186,2148,2484,4094,63.0,0.0,89,720,7.47,1.08,27.80,1.270,10500,0.029,0.050,2891,2549,1915,1915,4094,0,0,0,0,0,0,25.58,25.52,23.94,10.27,47.55
$GC,746,1.81,511.9,2890,2549,1914,4094,58.8,10.2,97,756,0.00,1.02,3.22,0.521,9222,0.000,0.025,2891,2140,1886,1886,4094,0,0,0,0,0,0,25.36,25.37,24.06,10.14,46.69
$GC,797,1.84,525.9,2890,2139,1886,4094,53.6,10.3,103,808,0.10,1.08,2.65,0.334,10756,0.083,0.043,2906,1727,1870,1870,4094,0,0,0,0,0,0,25.54,24.92,24.15,10.13,46.49
$GC,880,1.84,525.9,2905,1727,1868,4094,44.4,11.1,114,890,0.00,0.90,0.00,0.000,1030,0.000,0.028,2906,2102,1868,1868,4094,0,0,0,0,0,0,25.76,25.75,25.75,10.12,47.32
$GC,930,1.84,525.9,2905,2102,1867,4094,38.9,10.9,120,939,0.00,1.25,0.00,0.000,260,0.000,0.050,2906,2564,1867,1867,4094,0,0,0,0,0,0,26.08,25.69,26.09,10.12,47.32
$GC,964,1.84,525.9,2905,2564,1866,4094,34.7,11.6,124,974,0.00,1.25,0.00,0.000,1030,0.000,0.028,2906,2072,1866,1866,4094,0,0,0,0,0,0,25.88,25.84,25.89,10.12,47.48
$GC,1013,1.85,532.5,2905,2072,1865,4094,29.5,10.4,130,1022,0.00,0.88,0.00,0.000,516,0.000,0.049,2906,1726,1865,1865,4094,0,0,0,0,0,0,26.20,25.81,26.21,10.13,48.14
$GC,1214,2.00,638.5,2905,1726,1860,4094,10.8,9.0,159,1225,0.55,0.73,7.03,0.588,11270,0.028,0.027,2971,2053,1739,1739,4094,0,0,0,0,0,0,26.15,26.15,24.89,10.20,51.92
$GC,1266,2.00,638.5,2970,2053,1737,4094,5.4,10.7,165,1274,0.00,1.35,0.00,0.000,260,0.000,0.050,2971,2558,1737,1737,4094,0,0,0,0,0,0,26.34,25.94,26.35,10.18,52.12
$STATE,1295,end climb,SURFACE_DEPTH_REACHED
$STATE,1295,begin surface coast
$FINISH,1.0,1.024202
$STATE,1303,end surface coast,CONTROL_FINISHED_OK
$STATE,1303,begin surface
$SM_CCo,1410,0.00,0.000,0,0,1735,643.09
$SM_GC,0.92,28.38,1.55,0.00,0.020,0.033,0.000,238,1968,1735,-6.55,1.96,643.09,0,0,0,0,0,0,26.15,26.03,26.19
$IRIDIUM_FIX,6149.06,-17422.35,250817,152802
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.75
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.94,48.086
$10V_AH,10.15,46.984
$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,47.225,17.600,68.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,474.827,61.331,127.027,708.305,106.538,0.000,351.719,0.000,411.637,0.000,0.542,0.000
$DEVICE_MAMPS,82.620,1240.830,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,116.807,461.871,365.524,541.813,707.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,17758,170
$CAP_FILE_SIZE,28967,0
$CFSIZE,1024409600,936329216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,175219,6104.442,-17355.160,8,0.9,46,7.0,0.5,16.7,9,4.9