version: 66.13
glider: 401
mission: 22
dive: 1787
start: 8 27 117 8 24 12
data:
$ID,401
$MISSION,22
$DIVE,1787
$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,41
$R_STBD_OVSHOOT,27
$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
$GPS1,270817,080249,6053.5288,-17349.2188,7,0.8,13,7.0,0.0,3.9,10,4.8
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.5
$GPS2,270817,080249,6053.5288,-17349.2188,7,0.8,13,7.0,0.0,3.9,10,4.8
$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,144.2,19421,-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,-585.0,2386,1943,2380,4092,0.0,0.0,0,18,5.75,0.00,0.00,0.000,4097,0.021,0.000,1824,1944,2380,2380,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.35,52.48
$GC,23,-1.82,-585.0,1823,1943,2380,4095,0.1,0.0,1,37,0.43,1.15,-7.40,0.000,20996,0.037,1.257,1774,1533,3172,3172,4095,0,0,0,0,0,0,26.09,24.32,26.12,10.35,51.53
$GC,193,-1.82,-585.0,1773,1532,3176,4095,21.3,-15.9,28,200,0.00,1.00,0.00,0.000,1030,0.000,0.027,1774,1958,3176,3176,4095,0,0,0,0,0,0,26.17,26.14,26.19,10.53,52.24
$GC,234,-1.82,-585.0,1773,1958,3177,4095,27.3,-14.2,34,240,0.00,1.10,0.00,0.000,260,0.000,0.044,1774,2378,3177,3177,4095,0,0,0,0,0,0,26.45,26.06,26.46,10.52,51.57
$GC,288,-1.82,-585.0,1773,2378,3178,4095,33.6,-12.5,42,295,0.00,1.00,0.00,0.000,1030,0.000,0.028,1774,1980,3179,3179,4095,0,0,0,0,0,0,26.21,26.19,26.23,10.48,51.29
$GC,329,-1.82,-585.0,1773,1980,3180,4095,38.8,-12.0,48,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1980,3179,3179,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.46,50.78
$GC,369,-1.82,-585.0,1773,1981,3180,4095,43.7,-12.1,54,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1980,3180,3180,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.44,49.29
$GC,409,-1.82,-585.0,1773,1980,3181,4094,48.4,-11.6,60,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1980,3181,3181,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.44,48.89
$GC,449,-1.82,-585.0,1774,1980,3182,4095,53.1,-11.7,66,455,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1980,3183,3183,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.42,48.81
$GC,489,-1.82,-585.0,1773,1980,3183,4095,57.8,-11.8,72,495,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1980,3183,3183,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.42,48.18
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,517,-0.45,0.0,1773,2144,3183,4095,60.5,-12.1,75,559,4.40,0.00,33.40,1.304,10244,0.050,0.000,2184,2144,2483,2483,4095,0,0,0,0,0,0,26.18,25.22,24.19,10.42,48.34
$STATE,560,end apogee,CONTROL_FINISHED_OK
$STATE,560,begin climb
$GC,565,1.82,585.0,2185,2144,2484,4095,63.4,0.0,82,612,7.65,0.00,33.12,1.272,11270,0.029,0.000,2904,2144,1802,1802,4094,0,0,0,0,0,0,25.51,25.68,23.80,10.27,47.32
$GC,647,1.82,585.0,2903,2143,1801,4094,55.9,14.0,95,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1801,1801,4094,0,0,0,0,0,0,25.48,25.50,25.49,10.12,46.96
$GC,687,1.82,585.0,2903,2144,1800,4094,50.1,14.2,101,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2144,1800,1800,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.12,46.41
$GC,727,1.82,585.0,2903,2144,1798,4094,44.4,14.0,107,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2144,1798,1798,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.11,46.77
$GC,767,1.82,585.0,2903,2144,1797,4094,38.7,14.3,113,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2144,1796,1796,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.11,47.20
$GC,807,1.82,585.0,2903,2144,1796,4094,33.0,13.9,119,814,0.00,1.15,0.00,0.000,516,0.000,0.043,2904,1711,1795,1795,4094,0,0,0,0,0,0,26.01,25.65,26.03,10.10,47.36
$GC,890,1.82,585.0,2903,1711,1793,4094,22.0,13.3,132,896,0.00,1.00,0.00,0.000,1030,0.000,0.029,2904,2120,1793,1793,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.14,48.07
$GC,930,1.82,585.0,2903,2119,1792,4094,17.4,10.9,138,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2120,1791,1791,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.17,49.92
$GC,970,1.82,585.0,2903,2119,1790,4095,13.0,10.9,144,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2120,1790,1790,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.17,51.02
$GC,1010,1.82,585.0,2903,2119,1789,4094,8.3,11.5,150,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1789,1789,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.18,52.44
$GC,1050,1.82,585.0,2903,2119,1788,4094,3.8,10.9,156,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2120,1788,1788,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.19,52.16
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1068,begin subsurface finish
$FINISH1,1.5,1.024266,93
$GC,1079,0.14,92.9,2904,2119,1786,4094,1.5,10.6,159,1098,5.30,1.15,-5.22,0.000,20996,0.024,1.254,2385,1709,2380,2380,4094,0,0,0,0,0,0,26.08,24.26,26.13,10.19,52.55
$FINISH2,0.1
$STATE,1099,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,270817,064045
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.79
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.80,51.121
$10V_AH,10.38,49.229
$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,23.525,8.350,66.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,416.332,243.659,155.501,236.033,110.816,0.000,336.048,0.000,244.148,0.000,0.543,0.000
$DEVICE_MAMPS,49.725,1256.895,1303.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330664
$DATA_FILE_SIZE,10833,162
$CAP_FILE_SIZE,27643,0
$CFSIZE,1024409600,931676160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270817,080249,6053.529,-17349.219,7,0.8,13,7.0,0.0,3.9,10,4.8