version: 66.13
glider: 401
mission: 22
dive: 1749
start: 8 26 117 16 48 28
data:
$ID,401
$MISSION,22
$DIVE,1749
$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,600
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,59
$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
$GPS1,260817,160715,6057.9341,-17354.0449,7,1.1,52,7.0,0.4,339.5,7,3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.3
$GPS2,260817,160715,6057.9341,-17354.0449,7,1.1,52,7.0,0.4,339.5,7,3.0
$SPEED_LIMITS,0.226,0.425
$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,144.4,28675,-10.3,-10.526,-13.92,8308
$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,-1.82,-585.0,2381,1988,2387,4092,0.0,0.0,0,18,5.65,0.00,0.00,0.000,4097,0.022,0.000,1827,1988,2387,2387,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.34,52.12
$GC,23,-1.82,-585.0,1827,1987,2387,4094,0.1,0.0,1,36,0.45,1.02,-7.00,0.000,20740,0.035,1.240,1773,2351,3172,3172,4095,0,0,0,0,0,0,26.10,24.34,26.12,10.35,51.89
$GC,119,-1.82,-585.0,1773,2351,3175,4095,12.1,-15.6,16,125,0.00,1.00,0.00,0.000,1030,0.000,0.030,1774,1954,3175,3175,4095,0,0,0,0,0,0,26.07,26.04,26.10,10.51,52.44
$GC,159,-1.82,-585.0,1773,1954,3176,4095,18.4,-15.4,22,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3176,3176,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.52,52.04
$GC,199,-1.82,-585.0,1773,1954,3176,4095,24.4,-14.6,28,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3176,3176,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.51,52.04
$GC,239,-1.82,-585.0,1773,1953,3178,4095,29.6,-12.5,34,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3178,3178,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.48,51.49
$GC,279,-1.82,-585.0,1773,1954,3179,4095,34.6,-12.9,40,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3179,3179,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,51.06
$GC,319,-1.82,-585.0,1773,1954,3179,4095,39.4,-12.2,46,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3180,3180,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.46,50.74
$GC,359,-1.82,-585.0,1773,1954,3180,4094,44.1,-11.9,52,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1954,3180,3180,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.44,50.00
$GC,398,-1.82,-585.0,1773,1954,3181,4094,48.8,-11.8,58,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3181,3181,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.42,49.05
$GC,438,-1.82,-585.0,1773,1954,3182,4094,53.7,-12.1,64,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3182,3182,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.41,48.77
$GC,478,-1.82,-585.0,1773,1954,3183,4095,58.6,-11.9,70,484,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1954,3183,3183,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.41,48.22
$STATE,489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,489,begin apogee
$GC,500,-0.45,0.0,1774,2117,3183,4095,60.4,-12.3,72,541,4.43,0.00,33.33,1.327,10244,0.050,0.000,2186,2117,2484,2484,4094,0,0,0,0,0,0,26.17,25.20,24.16,10.41,48.26
$STATE,542,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,547,1.82,585.0,2186,2117,2484,4094,63.3,0.0,79,595,7.62,0.00,33.12,1.281,11270,0.030,0.000,2903,2117,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.77,10.26,47.87
$GC,629,1.82,585.0,2902,2117,1801,4094,56.1,12.7,92,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2117,1801,1801,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.11,46.65
$GC,669,1.82,585.0,2902,2117,1800,4094,51.2,12.7,98,676,0.00,1.10,0.00,0.000,516,0.000,0.044,2903,1711,1800,1800,4094,0,0,0,0,0,0,25.66,25.33,25.67,10.10,46.73
$GC,800,1.82,585.0,2903,1710,1796,4094,33.7,13.2,119,807,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2124,1796,1796,4094,0,0,0,0,0,0,25.75,25.72,25.77,10.10,47.71
$GC,841,1.82,585.0,2902,2124,1795,4094,28.4,13.5,125,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,47.83
$GC,881,1.82,585.0,2903,2123,1793,4094,23.1,13.2,131,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1793,1793,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.13,49.40
$GC,920,1.82,585.0,2902,2124,1792,4094,18.2,11.8,137,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1792,1792,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.16,50.47
$GC,960,1.82,585.0,2903,2124,1791,4094,13.5,11.7,143,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1790,1790,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.17,51.29
$GC,1000,1.82,585.0,2902,2124,1789,4094,8.8,11.8,149,1007,0.00,1.10,0.00,0.000,516,0.000,0.045,2903,1706,1789,1789,4094,0,0,0,0,0,0,26.29,25.89,26.29,10.18,51.92
$STATE,1054,end climb,SURFACE_DEPTH_REACHED
$STATE,1054,begin surface coast
$FINISH,0.6,1.024393
$STATE,1067,end surface coast,CONTROL_FINISHED_OK
$STATE,1067,begin surface
$SM_CCo,1173,0.00,0.000,0,0,1787,599.30
$SM_GC,0.77,27.80,0.60,0.00,0.020,0.031,0.000,236,1981,1787,-6.55,-1.09,599.30,0,0,0,0,0,0,26.13,26.12,26.16
$IRIDIUM_FIX,6149.06,-17422.35,260817,155848
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.91
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.77,49.900
$10V_AH,10.37,48.325
$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,45.950,6.825,66.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,419.099,306.077,171.969,232.517,112.405,0.000,348.307,0.000,241.224,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,1240.065,1326.510,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330604
$DATA_FILE_SIZE,10764,160
$CAP_FILE_SIZE,28776,0
$CFSIZE,1024409600,933543936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260817,170857,6057.562,-17354.518,5,0.8,14,7.0,0.0,290.7,10,4.6