version: 66.13
glider: 401
mission: 22
dive: 1662
start: 8 25 117 4 47 55
data:
$ID,401
$MISSION,22
$DIVE,1662
$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,50
$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
$GPS1,250817,040707,6106.7012,-17354.5469,6,0.8,17,7.0,0.0,267.6,11,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-0.9
$GPS2,250817,040707,6106.7012,-17354.5469,6,0.8,17,7.0,0.0,267.6,11,4.8
$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,132.7,6657,-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,-487.5,2383,1930,2380,4092,0.0,0.0,0,21,6.22,0.00,-2.17,0.000,20482,0.021,0.000,1770,1930,2620,2620,4095,0,0,0,0,0,0,26.17,28.83,26.22,10.34,53.03
$GC,26,-1.78,-487.5,1770,1929,2620,4095,0.1,0.0,1,36,0.00,1.25,-4.07,0.000,16644,0.000,1.252,1770,2377,3053,3053,4095,0,0,0,0,0,0,26.41,24.51,26.43,10.39,53.38
$GC,295,-1.78,-487.5,1769,2377,3060,4095,35.4,-13.1,40,304,0.00,1.00,0.00,0.000,1030,0.000,0.029,1770,1980,3060,3060,4094,0,0,0,0,0,0,26.22,26.21,26.26,10.44,51.33
$GC,344,-1.78,-487.5,1769,1980,3062,4094,41.9,-13.0,46,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1980,3062,3062,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,51.10
$GC,392,-1.78,-487.5,1770,1980,3063,4095,48.4,-13.3,52,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1980,3063,3063,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.40,49.88
$GC,441,-1.78,-487.5,1770,1980,3063,4094,54.7,-13.0,58,450,0.00,1.17,0.00,0.000,516,0.000,0.050,1770,1517,3064,3064,4094,0,0,0,0,0,0,26.57,26.16,26.58,10.40,49.56
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,490,-0.45,0.0,1770,2135,3065,4094,60.3,-12.9,63,526,4.45,0.00,28.08,1.307,10244,0.054,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.20,25.37,24.34,10.38,49.37
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,532,1.78,487.5,2184,2136,2484,4094,63.7,0.0,67,576,7.53,0.00,27.83,1.277,11270,0.030,0.000,2893,2136,1918,1918,4094,0,0,0,0,0,0,25.63,25.80,23.92,10.27,47.95
$GC,616,1.78,487.5,2892,2135,1916,4094,56.5,13.7,77,626,0.00,1.15,0.00,0.000,516,0.000,0.045,2894,1707,1916,1916,4094,0,0,0,0,0,0,25.63,25.31,25.64,10.13,46.69
$GC,736,1.78,487.5,2892,1706,1913,4094,39.9,13.3,94,745,0.00,1.05,0.00,0.000,1030,0.000,0.029,2893,2131,1912,1912,4094,0,0,0,0,0,0,25.72,25.71,25.77,10.12,47.32
$GC,784,1.78,487.5,2893,2130,1911,4094,33.5,13.0,100,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1911,1911,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.13,47.48
$GC,831,1.78,487.5,2893,2131,1910,4094,27.8,12.3,106,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2131,1910,1910,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.13,48.26
$GC,878,1.78,487.5,2893,2131,1908,4094,22.0,11.7,112,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,1908,1908,4095,0,0,0,0,0,0,26.22,26.23,26.23,10.15,48.62
$GC,925,1.78,487.5,2893,2131,1907,4095,16.7,11.2,118,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,1907,1907,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.18,49.64
$GC,972,1.78,487.5,2893,2131,1906,4095,11.5,10.8,124,982,0.00,1.12,0.00,0.000,516,0.000,0.045,2894,1704,1905,1905,4094,0,0,0,0,0,0,26.32,25.92,26.33,10.20,50.82
$STATE,1055,end climb,SURFACE_DEPTH_REACHED
$STATE,1055,begin surface coast
$FINISH,0.3,1.024238
$STATE,1078,end surface coast,CONTROL_FINISHED_OK
$STATE,1078,begin surface
$SM_CCo,1182,0.00,0.000,0,0,1902,499.71
$SM_GC,1.01,27.73,0.62,0.00,0.019,0.028,0.000,231,1992,1902,-6.59,-0.96,499.71,0,0,0,0,0,0,26.10,26.18,26.15
$IRIDIUM_FIX,6149.06,-17422.35,250817,024951
$TT8_MAMPS,0.025466,0.238931
$HUMID,52.16
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.92,47.210
$10V_AH,10.16,46.244
$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,45.925,9.375,55.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,393.780,60.130,119.835,583.840,91.882,0.000,322.838,0.000,340.716,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1252.305,1307.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.236,377.681,298.848,443.492,581.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,14329,139
$CAP_FILE_SIZE,23410,0
$CFSIZE,1024409600,937820160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250817,050834,6106.796,-17354.504,8,0.8,15,7.0,0.0,311.5,11,4.6