version: 66.13
glider: 401
mission: 22
dive: 1526
start: 8 22 117 20 13 10
data:
$ID,401
$MISSION,22
$DIVE,1526
$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,28
$R_STBD_OVSHOOT,47
$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
$GPS1,220817,195059,6126.7334,-17349.8672,4,0.8,28,7.0,0.3,48.4,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-2.4
$GPS2,220817,195059,6126.7334,-17349.8672,4,0.8,28,7.0,0.3,48.4,10,5.0
$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,172.8,42177,-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,-487.5,2398,1971,2356,4092,0.0,0.0,0,21,6.45,0.00,-2.53,0.000,20482,0.023,0.000,1773,1971,2626,2626,4095,0,0,0,0,0,0,26.06,28.83,26.11,10.32,54.13
$GC,26,-1.78,-487.5,1772,1971,2627,4095,0.1,0.0,1,36,0.00,1.08,-4.07,0.000,16644,0.000,1.252,1772,2356,3057,3057,4095,0,0,0,0,0,0,26.30,24.42,26.31,10.38,53.62
$GC,113,-1.78,-487.5,1771,2356,3059,4095,9.2,-15.1,13,122,0.00,1.02,0.00,0.000,1030,0.000,0.032,1772,1949,3060,3060,4095,0,0,0,0,0,0,26.02,25.97,26.06,10.48,53.81
$GC,160,-1.78,-487.5,1772,1948,3060,4095,17.2,-16.7,19,170,0.00,1.08,0.00,0.000,516,0.000,0.049,1772,1522,3061,3061,4095,0,0,0,0,0,0,26.34,25.98,26.35,10.48,52.87
$GC,195,-1.78,-487.5,1772,1521,3061,4095,22.8,-16.6,23,204,0.00,0.98,0.00,0.000,1030,0.000,0.026,1772,1940,3061,3061,4095,0,0,0,0,0,0,26.13,26.10,26.14,10.46,53.07
$GC,242,-1.78,-487.5,1772,1940,3062,4095,28.7,-12.8,29,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1940,3063,3063,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.43,51.85
$GC,290,-1.78,-487.5,1772,1940,3064,4095,34.7,-12.7,35,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1940,3064,3064,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.40,51.22
$GC,338,-1.78,-487.5,1771,1941,3064,4095,40.3,-11.4,41,348,0.00,1.12,0.00,0.000,260,0.000,0.044,1772,2370,3065,3065,4095,0,0,0,0,0,0,26.45,26.10,26.46,10.38,50.43
$GC,405,-1.78,-487.5,1772,2370,3066,4095,48.3,-11.9,50,414,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1940,3066,3066,4094,0,0,0,0,0,0,26.20,26.17,26.24,10.37,48.85
$GC,452,-1.78,-487.5,1771,1940,3067,4094,54.1,-12.5,56,462,0.00,1.05,0.00,0.000,516,0.000,0.054,1772,1524,3068,3068,4095,0,0,0,0,0,0,26.51,26.10,26.52,10.36,47.91
$STATE,496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,496,begin apogee
$GC,507,-0.45,0.0,1773,2129,3069,4095,60.3,-13.3,62,543,4.47,0.00,28.40,1.310,10244,0.055,0.000,2185,2129,2484,2484,4094,0,0,0,0,0,0,26.17,25.30,24.26,10.35,47.32
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,548,1.78,487.5,2186,2129,2484,4094,63.7,0.0,66,592,7.53,0.00,27.92,1.284,11270,0.031,0.000,2892,2129,1918,1918,4094,0,0,0,0,0,0,25.56,25.73,23.83,10.22,47.16
$GC,632,1.78,487.5,2891,2129,1917,4094,57.6,12.0,76,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1917,1917,4094,0,0,0,0,0,0,25.58,25.59,25.58,10.09,46.25
$GC,680,1.78,487.5,2891,2129,1915,4094,51.4,12.7,82,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2129,1915,1915,4094,0,0,0,0,0,0,25.77,25.77,25.78,10.09,45.82
$GC,728,1.78,487.5,2891,2129,1914,4094,45.1,12.9,88,742,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1711,1914,1914,4094,0,0,0,0,0,0,25.89,25.58,25.91,10.08,46.25
$GC,782,1.78,487.5,2891,1710,1912,4094,37.9,13.6,94,791,0.00,1.05,0.00,0.000,1030,0.000,0.031,2892,2132,1912,1912,4095,0,0,0,0,0,0,25.76,25.72,25.78,10.08,46.69
$GC,831,1.78,487.5,2891,2132,1911,4095,31.4,12.8,100,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1911,1911,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.08,47.16
$GC,879,1.78,487.5,2892,2132,1909,4094,25.8,11.6,106,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1909,1909,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.08,48.11
$GC,926,1.78,487.5,2891,2132,1908,4094,20.0,11.9,112,935,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1717,1908,1908,4094,0,0,0,0,0,0,26.21,25.85,26.22,10.10,48.77
$GC,954,1.78,487.5,2892,1717,1908,4094,16.9,11.1,115,963,0.00,1.02,0.00,0.000,1030,0.000,0.028,2892,2136,1907,1907,4094,0,0,0,0,0,0,25.98,25.95,26.03,10.13,48.74
$GC,1003,1.90,569.0,2892,2135,1906,4094,12.5,9.3,121,1013,0.32,0.00,5.65,0.552,10246,0.041,0.000,2932,2135,1820,1820,4094,0,0,0,0,0,0,26.06,25.65,24.82,10.16,51.06
$GC,1053,1.91,574.1,2931,2135,1819,4094,7.4,10.5,127,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2135,1818,1818,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.15,51.65
$GC,1102,1.91,574.1,2931,2135,1817,4094,2.1,11.0,133,1111,0.00,1.10,0.00,0.000,516,0.000,0.044,2932,1713,1817,1817,4094,0,0,0,0,0,0,26.30,25.94,26.32,10.17,52.32
$STATE,1119,end climb,FINISH_DEPTH_REACHED
$STATE,1119,begin subsurface finish
$FINISH1,0.1,1.000950,0
$GC,1131,0.00,0.0,2932,2136,1817,4094,0.1,9.8,135,1150,5.95,1.17,-6.05,0.000,20996,0.024,1.262,2346,1709,2487,2487,4094,0,0,0,0,0,0,26.10,24.46,26.14,10.17,52.83
$FINISH2,0.2
$STATE,1151,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1151,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,182921
$TT8_MAMPS,0.026215,0.244923
$HUMID,53.11
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.83,43.218
$10V_AH,10.14,42.977
$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,24.725,17.150,61.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,400.070,0.000,132.026,573.063,106.778,0.000,381.608,0.000,333.853,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1262.250,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.214,372.280,294.554,436.385,569.903,0.000,0.000,0.000,0.000,0.000
$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,14359,137
$CAP_FILE_SIZE,29962,0
$CFSIZE,1024409600,944504832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,728.94,0x236164,1,24
$GPS,220817,195059,6126.733,-17349.867,4,0.8,28,7.0,0.3,48.4,10,5.0