version: 66.13
glider: 401
mission: 22
dive: 1527
start: 8 22 117 20 34 14
data:
$ID,401
$MISSION,22
$DIVE,1527
$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,54
$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,0.63
$_SM_ANGLEo,-2.6
$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,9,-1.78,-487.5,2346,1982,2487,4092,0.0,0.0,0,17,5.62,0.00,0.00,0.000,4097,0.021,0.000,1800,1983,2487,2487,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.33,52.99
$GC,22,-1.78,-487.5,1800,1982,2487,4094,1.5,0.0,1,29,0.00,1.02,-3.62,0.000,16644,0.000,1.254,1800,2350,3061,3061,4094,0,0,0,0,0,0,26.32,24.46,26.33,10.34,53.18
$GC,87,-1.78,-487.5,1799,2350,3062,4094,9.9,-15.5,11,93,0.00,1.00,0.00,0.000,1030,0.000,0.032,1800,1954,3062,3062,4095,0,0,0,0,0,0,26.07,26.03,26.10,10.45,53.50
$GC,127,-1.78,-487.5,1800,1954,3064,4095,16.1,-15.7,17,134,0.00,1.10,0.00,0.000,516,0.000,0.052,1800,1523,3064,3064,4095,0,0,0,0,0,0,26.37,26.01,26.39,10.47,52.99
$GC,167,-1.78,-487.5,1799,1523,3065,4095,22.0,-14.4,23,174,0.00,0.93,0.00,0.000,1030,0.000,0.028,1800,1921,3064,3064,4095,0,0,0,0,0,0,26.16,26.14,26.18,10.45,52.63
$GC,207,-1.78,-487.5,1799,1921,3066,4095,27.0,-12.1,29,214,0.00,1.15,0.00,0.000,260,0.000,0.045,1800,2361,3066,3066,4094,0,0,0,0,0,0,26.42,26.06,26.44,10.42,52.79
$GC,254,-1.78,-487.5,1799,2361,3067,4094,32.9,-12.8,36,260,0.00,1.08,0.00,0.000,1030,0.000,0.031,1800,1934,3067,3067,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.40,51.69
$GC,296,-1.78,-487.5,1799,1934,3068,4094,37.8,-12.2,42,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1934,3068,3068,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.38,50.63
$GC,335,-1.78,-487.5,1799,1934,3068,4095,42.4,-10.8,48,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1800,1934,3068,3068,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.37,50.00
$GC,374,-1.78,-487.5,1799,1934,3069,4095,46.8,-11.1,54,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,1934,3069,3069,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.36,49.01
$GC,414,-1.78,-487.5,1799,1934,3070,4094,51.3,-11.8,60,420,0.00,1.15,0.00,0.000,260,0.000,0.044,1800,2365,3070,3070,4095,0,0,0,0,0,0,26.52,26.17,26.53,10.35,48.54
$GC,472,-1.78,-487.5,1799,2365,3071,4095,58.0,-11.5,69,478,0.00,1.08,0.00,0.000,1030,0.000,0.031,1800,1934,3071,3071,4094,0,0,0,0,0,0,26.27,26.23,26.29,10.34,48.30
$STATE,490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,490,begin apogee
$GC,500,-0.45,0.0,1800,2135,3072,4094,60.6,-11.7,72,536,4.15,0.00,28.42,1.307,10244,0.052,0.000,2186,2136,2484,2484,4095,0,0,0,0,0,0,26.20,25.32,24.28,10.34,48.07
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,542,1.78,487.5,2186,2135,2484,4095,63.3,0.0,78,584,7.47,1.12,27.92,1.281,10500,0.030,0.053,2892,2555,1916,1916,4094,0,0,0,0,0,0,25.51,25.46,23.87,10.21,47.36
$GC,606,1.78,487.5,2891,2554,1915,4094,58.9,10.9,88,612,0.00,1.08,0.00,0.000,1030,0.000,0.025,2892,2134,1915,1915,4094,0,0,0,0,0,0,25.27,25.25,25.29,10.08,46.65
$GC,646,1.78,487.5,2891,2133,1914,4094,54.0,12.5,94,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2134,1914,1914,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.08,46.53
$GC,685,1.78,487.5,2891,2133,1913,4094,49.0,12.5,100,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1913,1913,4094,0,0,0,0,0,0,25.80,25.82,25.81,10.07,46.49
$GC,725,1.78,487.5,2891,2133,1912,4094,44.1,12.8,106,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2133,1912,1912,4095,0,0,0,0,0,0,25.90,25.91,25.91,10.06,47.00
$GC,764,1.78,487.5,2891,2133,1911,4095,39.1,12.6,112,771,0.00,1.08,0.00,0.000,516,0.000,0.047,2892,1721,1911,1911,4094,0,0,0,0,0,0,25.98,25.64,25.99,10.06,47.04
$GC,822,1.78,487.5,2890,1721,1909,4094,31.6,12.5,121,829,0.00,1.00,0.00,0.000,1030,0.000,0.029,2892,2128,1909,1909,4094,0,0,0,0,0,0,25.84,25.80,25.86,10.06,47.63
$GC,863,1.78,487.5,2891,2127,1908,4094,27.1,11.2,127,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1908,1908,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.07,47.91
$GC,902,1.78,487.5,2891,2126,1907,4094,22.6,10.8,133,909,0.00,1.08,0.00,0.000,516,0.000,0.046,2892,1721,1907,1907,4094,0,0,0,0,0,0,26.19,25.84,26.20,10.08,48.58
$GC,936,1.81,508.7,2891,1721,1906,4094,19.2,10.2,138,944,0.00,0.98,2.65,0.244,9222,0.000,0.029,2892,2124,1889,1889,4094,0,0,0,0,0,0,25.98,25.94,24.63,10.11,49.01
$GC,978,1.97,617.2,2891,2123,1889,4094,15.5,8.9,144,991,0.57,0.00,7.28,0.643,10246,0.031,0.000,2954,2123,1764,1764,4094,0,0,0,0,0,0,26.02,25.60,24.76,10.13,51.33
$GC,1025,1.97,617.2,2953,2123,1762,4094,10.6,11.6,151,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2123,1762,1762,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.13,51.69
$GC,1064,1.97,617.2,2953,2123,1761,4094,5.9,11.8,157,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2123,1761,1761,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,52.75
$STATE,1093,end climb,SURFACE_DEPTH_REACHED
$STATE,1094,begin surface coast
$FINISH,0.7,1.023972
$STATE,1107,end surface coast,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$SM_CCo,1212,0.00,0.000,0,0,1759,623.34
$SM_GC,0.80,28.42,0.43,0.00,0.020,0.042,0.000,236,1954,1759,-6.55,1.73,623.34,0,0,0,0,0,0,26.09,26.01,26.11
$IRIDIUM_FIX,6149.06,-17422.35,220817,182921
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.93
$INTERNAL_PRESSURE,10.0918
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.87,43.241
$10V_AH,10.36,42.988
$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,46.250,16.350,66.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,442.070,304.850,179.437,238.799,114.040,0.000,366.030,0.000,246.990,0.000,0.541,0.000
$DEVICE_MAMPS,52.020,1253.835,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,10914,164
$CAP_FILE_SIZE,34246,0
$CFSIZE,1024409600,944439296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,205521,6126.051,-17349.475,3,0.8,14,7.0,0.0,0.0,10,5.0