version: 66.13
glider: 401
mission: 22
dive: 1536
start: 8 23 117 0 15 35
data:
$ID,401
$MISSION,22
$DIVE,1536
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,220817,233335,6124.3140,-17350.2637,9,0.8,18,7.0,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-1.2
$GPS2,220817,233335,6124.3140,-17350.2637,9,0.8,18,7.0,0.0,0.0,11,5.0
$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,172.3,37698,-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,-487.5,2393,1949,2359,4092,0.0,0.0,0,20,6.38,0.00,-1.17,0.000,20482,0.024,0.000,1776,1950,2485,2485,4094,0,0,0,0,0,0,26.14,28.83,26.20,10.31,54.41
$GC,25,-1.78,-487.5,1775,1949,2484,4094,0.1,0.0,1,35,0.00,1.23,-5.43,0.000,16900,0.000,1.273,1776,1519,3056,3056,4095,0,0,0,0,0,0,26.40,24.52,26.41,10.34,54.25
$GC,209,-1.78,-487.5,1775,1519,3061,4095,21.2,-15.5,27,218,0.00,1.02,0.00,0.000,1030,0.000,0.028,1775,1944,3061,3061,4094,0,0,0,0,0,0,26.22,26.19,26.23,10.47,53.42
$GC,258,-1.78,-487.5,1776,1944,3062,4094,29.1,-14.7,33,267,0.00,1.15,0.00,0.000,260,0.000,0.046,1775,2382,3062,3062,4095,0,0,0,0,0,0,26.48,26.15,26.49,10.43,52.75
$GC,377,-1.78,-487.5,1775,2382,3064,4095,44.1,-12.6,50,386,0.00,1.08,0.00,0.000,1030,0.000,0.031,1775,1949,3065,3065,4095,0,0,0,0,0,0,26.27,26.22,26.28,10.38,50.00
$GC,424,-1.78,-487.5,1775,1949,3066,4095,50.0,-12.6,56,433,0.00,1.10,0.00,0.000,516,0.000,0.052,1776,1515,3066,3066,4095,0,0,0,0,0,0,26.55,26.17,26.56,10.37,49.68
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,500,begin apogee
$GC,511,-0.45,0.0,1775,2143,3068,4094,60.4,-12.9,67,554,4.40,0.00,28.35,1.333,10244,0.054,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.22,25.34,24.29,10.35,47.67
$STATE,555,end apogee,CONTROL_FINISHED_OK
$STATE,555,begin climb
$GC,560,1.78,487.5,2184,2142,2484,4094,64.2,0.0,72,603,7.53,0.00,28.00,1.305,11270,0.030,0.000,2892,2143,1917,1917,4094,0,0,0,0,0,0,25.63,25.80,23.87,10.22,47.83
$GC,643,1.78,487.5,2891,2142,1915,4094,57.7,12.7,82,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2143,1915,1915,4094,0,0,0,0,0,0,25.59,25.60,25.60,10.09,46.06
$GC,691,1.78,487.5,2891,2142,1914,4094,51.4,13.0,88,700,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1712,1914,1914,4094,0,0,0,0,0,0,25.78,25.45,25.79,10.08,46.02
$GC,791,1.78,487.5,2890,1712,1911,4094,38.3,12.7,102,800,0.00,1.02,0.00,0.000,1030,0.000,0.028,2892,2132,1911,1911,4094,0,0,0,0,0,0,25.79,25.76,25.80,10.07,47.16
$GC,839,1.78,487.5,2891,2131,1910,4094,32.5,12.3,108,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1910,1910,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.07,47.08
$GC,885,1.78,487.5,2891,2131,1908,4094,26.7,12.4,114,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1908,1908,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.08,47.79
$GC,932,1.78,487.5,2891,2131,1907,4094,21.4,10.8,120,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2132,1908,1908,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.11,49.09
$GC,978,1.80,499.3,2891,2132,1906,4094,16.7,10.4,126,987,0.00,0.00,0.12,0.003,8198,0.000,0.000,2892,2132,1906,1906,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.14,50.51
$GC,1025,1.84,527.0,2891,2131,1904,4094,11.8,10.1,132,1035,0.10,1.10,3.45,0.363,10756,0.080,0.045,2908,1713,1868,1868,4094,0,0,0,0,0,0,26.08,25.74,24.79,10.17,51.37
$STATE,1115,end climb,SURFACE_DEPTH_REACHED
$STATE,1115,begin surface coast
$FINISH,0.1,1.012788
$STATE,1140,end surface coast,CONTROL_FINISHED_OK
$STATE,1140,begin surface
$SM_CCo,1243,0.00,0.000,0,0,1865,532.33
$SM_GC,1.12,28.00,0.57,0.00,0.020,0.031,0.000,230,1988,1865,-6.59,-1.32,532.33,0,0,0,0,0,0,26.06,26.15,26.12
$IRIDIUM_FIX,6149.06,-17422.35,220817,221519
$TT8_MAMPS,0.026215,0.23968
$HUMID,53.03
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.87,43.503
$10V_AH,10.13,43.214
$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,46.400,11.525,59.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,413.575,59.611,128.220,614.419,93.469,0.000,339.524,0.000,359.131,0.000,0.543,0.000
$DEVICE_MAMPS,79.560,1272.960,1333.395,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.771,402.149,318.189,471.857,613.640,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,14327,148
$CAP_FILE_SIZE,26087,0
$CFSIZE,1024409600,944013312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230817,003719,6123.652,-17351.068,4,0.8,20,7.0,0.3,259.2,10,5.0