version: 66.13
glider: 401
mission: 22
dive: 1251
start: 8 18 117 3 54 9
data:
$ID,401
$MISSION,22
$DIVE,1251
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,180817,031326,6205.1216,-17427.6348,9,0.8,17,6.8,0.5,56.1,10,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.6
$GPS2,180817,031326,6205.1216,-17427.6348,9,0.8,17,6.8,0.5,56.1,10,4.7
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W14S
$TGT_LATLONG,6156.580,-17421.840
$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,155.5,16605,-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,-487.5,2416,1952,2333,4092,0.0,0.0,0,18,6.50,0.00,-0.12,0.000,20482,0.022,0.000,1788,1952,2346,2346,4094,0,0,0,0,0,0,26.04,28.83,26.10,10.29,53.58
$GC,23,-1.78,-487.5,1788,1952,2346,4094,0.0,0.0,1,35,0.00,0.00,-6.78,0.000,16390,0.000,0.000,1788,1952,3056,3056,4094,0,0,0,0,0,0,26.28,25.51,26.29,10.30,53.50
$GC,68,-1.78,-487.5,1787,1952,3057,4094,3.9,-13.0,8,74,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1953,3057,3057,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.45,53.70
$GC,106,-1.78,-487.5,1788,1952,3059,4094,10.4,-17.8,14,112,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3059,3059,4095,0,0,0,0,0,0,26.28,26.29,26.28,10.46,52.91
$GC,145,-1.78,-487.5,1788,1952,3060,4095,17.6,-18.5,20,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1953,3059,3059,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.45,52.79
$GC,184,-1.78,-487.5,1787,1952,3061,4095,24.1,-15.6,26,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3061,3061,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.42,52.24
$GC,223,-1.78,-487.5,1788,1952,3062,4095,28.9,-11.6,32,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3062,3062,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.39,51.73
$GC,262,-1.78,-487.5,1787,1952,3063,4094,33.5,-12.0,38,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1953,3063,3063,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.38,50.94
$GC,301,-1.78,-487.5,1787,1952,3064,4095,38.2,-12.4,44,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3064,3064,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.36,50.00
$GC,339,-1.78,-487.5,1788,1952,3065,4095,43.0,-12.5,50,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1953,3064,3064,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.35,48.85
$GC,378,-1.78,-487.5,1788,1952,3066,4095,47.8,-12.3,56,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3066,3066,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.34,48.74
$GC,417,-1.78,-487.5,1787,1952,3066,4095,52.6,-12.3,62,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3067,3067,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.33,48.58
$GC,456,-1.78,-487.5,1787,1952,3067,4095,57.5,-12.5,68,462,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1952,3068,3068,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.33,47.79
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,482,-0.45,0.0,1788,2141,3068,4095,60.1,-12.7,71,518,4.28,0.00,28.27,1.312,10244,0.054,0.000,2186,2141,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.22,10.32,48.14
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,522,1.78,487.5,2186,2141,2484,4094,62.8,0.0,77,565,7.45,1.12,27.90,1.283,10756,0.032,0.042,2893,1710,1915,1915,4094,0,0,0,0,0,0,25.51,25.46,23.81,10.19,47.24
$GC,598,1.78,487.5,2893,1710,1915,4094,56.8,11.8,89,605,0.00,1.08,0.00,0.000,1030,0.000,0.029,2893,2134,1915,1915,4094,0,0,0,0,0,0,25.33,25.29,25.34,10.07,46.06
$GC,638,1.78,487.5,2892,2134,1914,4094,51.5,13.7,95,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1914,1914,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.06,45.98
$GC,677,1.78,487.5,2893,2134,1913,4094,46.2,13.8,101,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1913,1913,4095,0,0,0,0,0,0,25.82,25.83,25.82,10.06,46.22
$GC,715,1.78,487.5,2892,2134,1911,4095,41.0,13.7,107,722,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1712,1911,1911,4094,0,0,0,0,0,0,25.91,25.61,25.92,10.05,46.53
$GC,821,1.78,487.5,2893,1712,1908,4094,27.2,13.2,124,828,0.00,1.05,0.00,0.000,1030,0.000,0.031,2893,2135,1908,1908,4095,0,0,0,0,0,0,25.86,25.83,25.89,10.04,47.20
$GC,861,1.78,487.5,2893,2135,1907,4095,22.3,12.2,130,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2135,1907,1907,4094,0,0,0,0,0,0,26.14,26.16,26.15,10.05,47.63
$GC,900,2.01,642.7,2893,2135,1906,4094,18.9,8.2,136,914,0.70,0.00,9.25,0.737,10246,0.031,0.000,2971,2135,1734,1734,4094,0,0,0,0,0,0,25.98,25.58,24.76,10.09,48.58
$GC,947,2.01,642.7,2971,2135,1733,4094,14.1,11.2,143,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2135,1733,1733,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.09,50.43
$GC,985,2.01,642.7,2970,2135,1732,4094,9.7,11.7,149,992,0.00,1.12,0.00,0.000,516,0.000,0.047,2971,1712,1732,1732,4094,0,0,0,0,0,0,26.15,25.83,26.16,10.11,51.61
$STATE,1052,end climb,SURFACE_DEPTH_REACHED
$STATE,1052,begin surface coast
$FINISH,0.4,1.023704
$STATE,1065,end surface coast,CONTROL_FINISHED_OK
$STATE,1065,begin surface
$SM_CCo,1168,0.00,0.000,0,0,1729,649.10
$SM_GC,0.78,28.62,0.57,0.00,0.020,0.030,0.000,237,1987,1729,-6.55,-1.37,649.10,0,0,0,0,0,0,26.06,26.05,26.08
$IRIDIUM_FIX,6149.06,-17422.35,180817,015657
$TT8_MAMPS,0.025466,0.109354
$HUMID,54.25
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,2.10
$XPDR_PINGS,0
$24V_AH,23.81,35.098
$10V_AH,10.37,36.409
$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,47.550,7.025,65.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,425.376,306.104,176.699,235.879,89.386,0.000,357.870,0.000,244.004,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,47.430,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.660,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,10885,162
$CAP_FILE_SIZE,30588,0
$CFSIZE,1024409600,958021632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180817,041434,6204.615,-17426.504,8,1.0,18,6.8,0.5,75.2,9,4.9