version: 66.13
glider: 401
mission: 22
dive: 1626
start: 8 24 117 14 16 12
data:
$ID,401
$MISSION,22
$DIVE,1626
$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,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
$GPS1,240817,133516,6110.9443,-17352.8438,5,0.8,27,7.0,0.5,267.9,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-3.9
$GPS2,240817,133516,6110.9443,-17352.8438,5,0.8,27,7.0,0.5,267.9,10,4.9
$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,160.9,13231,-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,-487.5,2380,1942,2391,4092,0.0,0.0,0,21,6.25,0.00,-2.50,0.000,20482,0.025,0.000,1773,1942,2659,2659,4094,0,0,0,0,0,0,26.15,28.83,26.20,10.32,53.30
$GC,26,-1.78,-487.5,1773,1942,2659,4094,0.2,0.0,1,36,0.00,1.20,-3.78,0.000,16644,0.000,1.248,1773,2381,3055,3055,4095,0,0,0,0,0,0,26.40,24.50,26.41,10.38,54.09
$GC,273,-1.78,-487.5,1772,2381,3061,4095,30.7,-12.6,37,283,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1950,3061,3061,4095,0,0,0,0,0,0,26.18,26.14,26.22,10.43,52.71
$GC,323,-1.78,-487.5,1772,1950,3062,4095,36.8,-12.8,43,332,0.00,1.05,0.00,0.000,516,0.000,0.051,1773,1529,3062,3062,4095,0,0,0,0,0,0,26.51,26.10,26.51,10.41,51.29
$GC,390,-1.78,-487.5,1772,1529,3064,4095,45.7,-13.1,52,399,0.00,1.00,0.00,0.000,1030,0.000,0.028,1773,1956,3064,3064,4094,0,0,0,0,0,0,26.28,26.25,26.29,10.38,50.82
$GC,438,-1.78,-487.5,1772,1956,3065,4094,51.8,-13.0,58,446,0.00,1.08,0.00,0.000,260,0.000,0.045,1773,2367,3065,3065,4095,0,0,0,0,0,0,26.55,26.17,26.56,10.38,49.25
$STATE,500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,500,begin apogee
$GC,510,-0.45,0.0,1772,2113,3067,4095,60.3,-12.4,67,546,4.43,0.00,28.20,1.329,10244,0.054,0.000,2185,2113,2484,2484,4094,0,0,0,0,0,0,26.19,25.34,24.30,10.36,48.58
$STATE,547,end apogee,CONTROL_FINISHED_OK
$STATE,547,begin climb
$GC,551,1.78,487.5,2185,2112,2484,4094,63.6,0.0,71,596,7.53,0.00,27.75,1.288,11270,0.031,0.000,2893,2112,1919,1919,4094,0,0,0,0,0,0,25.60,25.77,23.91,10.24,48.11
$GC,635,1.78,487.5,2892,2112,1918,4094,56.6,12.7,81,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2112,1918,1918,4094,0,0,0,0,0,0,25.60,25.62,25.61,10.11,46.69
$GC,684,1.78,487.5,2892,2112,1916,4094,49.9,13.4,87,692,0.00,0.98,0.00,0.000,516,0.000,0.046,2893,1733,1917,1917,4094,0,0,0,0,0,0,25.79,25.44,25.80,10.10,46.69
$GC,770,1.78,487.5,2892,1733,1914,4094,38.1,13.5,99,779,0.00,0.95,0.00,0.000,1030,0.000,0.029,2893,2119,1913,1913,4094,0,0,0,0,0,0,25.76,25.74,25.77,10.09,47.48
$GC,818,1.78,487.5,2892,2118,1912,4094,31.6,13.6,105,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2119,1912,1912,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,47.24
$GC,865,1.78,487.5,2892,2118,1911,4094,25.4,13.3,111,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2119,1911,1911,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,48.66
$GC,912,1.78,487.5,2892,2118,1909,4094,19.6,12.2,117,921,0.00,1.02,0.00,0.000,516,0.000,0.046,2893,1731,1910,1910,4094,0,0,0,0,0,0,26.21,25.85,26.22,10.15,50.23
$GC,1044,1.78,487.5,2892,1731,1906,4094,4.8,10.9,136,1053,0.00,0.95,0.00,0.000,1030,0.000,0.031,2893,2122,1905,1905,4094,0,0,0,0,0,0,26.08,26.03,26.09,10.19,52.16
$STATE,1067,end climb,SURFACE_DEPTH_REACHED
$STATE,1067,begin surface coast
$FINISH,0.2,1.024401
$STATE,1082,end surface coast,CONTROL_FINISHED_OK
$STATE,1082,begin surface
$SM_CCo,1186,0.00,0.000,0,0,1904,498.85
$SM_GC,1.00,27.67,0.38,0.00,0.019,0.040,0.000,238,1960,1904,-6.55,2.46,498.85,0,0,0,0,0,0,26.14,26.10,26.17
$IRIDIUM_FIX,6149.06,-17422.35,240817,132741
$TT8_MAMPS,0.025466,0.265146
$HUMID,52.52
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.10
$XPDR_PINGS,0
$24V_AH,23.91,46.185
$10V_AH,10.11,45.401
$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,45.875,10.725,55.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,396.409,60.051,119.087,587.675,90.167,0.000,319.365,0.000,344.230,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1248.480,1328.805,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.003,383.156,303.174,449.726,586.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,14317,141
$CAP_FILE_SIZE,24416,0
$CFSIZE,1024409600,939589632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240817,143724,6110.280,-17353.697,39,0.7,44,7.0,0.4,251.2,11,4.6