version: 66.13
glider: 401
mission: 22
dive: 1529
start: 8 22 117 21 29 47
data:
$ID,401
$MISSION,22
$DIVE,1529
$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,63
$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
$GPS1,220817,210733,6126.0029,-17349.4375,3,0.8,16,7.0,0.0,0.0,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-2.1
$GPS2,220817,210733,6126.0029,-17349.4375,3,0.8,16,7.0,0.0,0.0,10,4.8
$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,173.4,40825,-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,-487.5,2396,2007,2355,4092,0.0,0.0,0,17,5.65,0.00,0.00,0.000,4097,0.020,0.000,1840,2007,2355,2355,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.33,52.48
$GC,22,-1.78,-487.5,1839,2006,2355,4094,0.2,0.0,1,35,0.47,0.95,-6.53,0.000,20740,0.041,1.248,1789,2343,3060,3060,4094,0,0,0,0,0,0,26.03,24.42,26.06,10.33,52.08
$GC,111,-1.78,-487.5,1789,2342,3061,4094,10.6,-16.2,15,117,0.00,1.00,0.00,0.000,1030,0.000,0.031,1789,1949,3061,3061,4094,0,0,0,0,0,0,26.03,26.01,26.07,10.48,52.00
$GC,151,-1.78,-487.5,1789,1949,3062,4094,17.1,-16.5,21,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1949,3062,3062,4095,0,0,0,0,0,0,26.34,26.34,26.34,10.49,51.92
$GC,190,-1.78,-487.5,1789,1949,3063,4095,23.2,-15.6,27,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1949,3064,3064,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.48,52.24
$GC,230,-1.78,-487.5,1789,1949,3064,4095,28.7,-13.8,33,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1949,3064,3064,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.45,51.33
$GC,269,-1.78,-487.5,1789,1949,3066,4095,33.7,-12.3,39,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1949,3066,3066,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.42,50.94
$GC,309,-1.78,-487.5,1788,1949,3066,4094,38.0,-11.1,45,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1949,3066,3066,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.40,50.00
$GC,348,-1.78,-487.5,1789,1949,3067,4095,42.3,-10.9,51,355,0.00,1.05,0.00,0.000,260,0.000,0.043,1789,2342,3068,3068,4095,0,0,0,0,0,0,26.46,26.12,26.47,10.38,49.48
$GC,418,-1.78,-487.5,1789,2342,3068,4095,50.6,-12.1,62,425,0.00,0.95,0.00,0.000,1030,0.000,0.032,1789,1961,3069,3069,4095,0,0,0,0,0,0,26.22,26.18,26.25,10.37,48.18
$GC,459,-1.78,-487.5,1789,1961,3069,4095,55.6,-12.3,68,465,0.00,1.12,0.00,0.000,516,0.000,0.053,1789,1519,3069,3069,4095,0,0,0,0,0,0,26.51,26.14,26.52,10.36,48.30
$STATE,495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,495,begin apogee
$GC,506,-0.45,0.0,1789,2106,3070,4095,60.7,-12.7,74,543,4.25,0.05,28.33,1.310,10244,0.054,0.156,2185,2145,2484,2484,4095,0,0,0,0,0,0,26.17,25.31,24.27,10.35,47.48
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,548,1.78,487.5,2184,2145,2483,4095,63.9,0.0,80,590,7.53,0.00,27.92,1.283,11270,0.031,0.000,2892,2145,1915,1915,4094,0,0,0,0,0,0,25.58,25.74,23.87,10.22,46.85
$GC,624,1.78,487.5,2891,2145,1914,4094,58.1,12.0,92,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2145,1915,1915,4094,0,0,0,0,0,0,25.53,25.55,25.55,10.10,45.74
$GC,663,1.78,487.5,2891,2145,1913,4094,52.9,13.0,98,670,0.00,1.17,0.00,0.000,516,0.000,0.045,2892,1710,1913,1913,4094,0,0,0,0,0,0,25.71,25.39,25.72,10.09,45.86
$GC,733,1.78,487.5,2892,1709,1911,4094,43.8,12.9,109,740,0.00,1.05,0.00,0.000,1030,0.000,0.029,2892,2131,1911,1911,4094,0,0,0,0,0,0,25.67,25.63,25.70,10.08,46.45
$GC,774,1.78,487.5,2891,2131,1910,4094,38.6,13.1,115,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2131,1910,1910,4094,0,0,0,0,0,0,25.99,26.01,26.01,10.08,47.12
$GC,813,1.78,487.5,2892,2130,1909,4094,33.3,13.4,121,820,0.00,1.17,0.00,0.000,260,0.000,0.055,2892,2562,1909,1909,4095,0,0,0,0,0,0,26.06,25.68,26.08,10.07,47.12
$GC,865,1.78,487.5,2891,2561,1907,4095,26.7,12.5,129,872,0.00,1.08,0.00,0.000,1030,0.000,0.027,2892,2131,1907,1907,4094,0,0,0,0,0,0,25.91,25.87,25.92,10.08,48.11
$GC,906,1.78,487.5,2892,2131,1906,4094,21.9,11.2,135,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2131,1906,1906,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.10,48.58
$GC,945,1.91,576.0,2892,2131,1905,4094,18.2,9.2,141,958,0.38,0.00,6.03,0.617,10246,0.037,0.000,2936,2128,1811,1811,4094,0,0,0,0,0,0,25.98,25.31,24.72,10.13,49.44
$GC,992,1.91,576.0,2935,2128,1810,4094,13.4,10.9,148,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2129,1810,1810,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.14,51.57
$GC,1031,1.91,576.0,2935,2128,1809,4094,9.0,11.0,154,1038,0.00,1.08,0.00,0.000,516,0.000,0.047,2936,1716,1809,1809,4094,0,0,0,0,0,0,26.24,25.88,26.25,10.15,52.28
$STATE,1091,end climb,FINISH_DEPTH_REACHED
$STATE,1091,begin subsurface finish
$FINISH1,1.8,1.023984,113
$GC,1103,0.17,112.7,2936,2139,1807,4094,1.8,11.2,164,1123,5.68,1.20,-4.90,0.000,20996,0.036,1.265,2395,1721,2357,2357,4095,0,0,0,0,0,0,26.06,24.44,26.11,10.16,53.22
$FINISH2,0.1
$STATE,1124,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,220817,205843
$TT8_MAMPS,0.026215,0.103362
$HUMID,54.41
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.87,43.312
$10V_AH,10.38,43.040
$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,23.950,15.025,62.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,433.573,254.911,156.205,243.170,96.972,0.000,341.744,0.000,251.232,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1264.545,1309.680,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,10819,167
$CAP_FILE_SIZE,30478,0
$CFSIZE,1024409600,944357376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220817,210733,6126.003,-17349.438,3,0.8,16,7.0,0.0,0.0,10,4.8