version: 66.13
glider: 401
mission: 22
dive: 1255
start: 8 18 117 5 36 45
data:
$ID,401
$MISSION,22
$DIVE,1255
$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,29
$R_STBD_OVSHOOT,14
$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
$GPS1,180817,052656,6203.9795,-17425.5391,8,0.8,18,6.8,0.8,94.3,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-42.5
$GPS2,180817,053609,6203.9590,-17425.4121,5,0.8,51,6.8,0.5,94.9,10,5.7
$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,160.4,14016,-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,-487.5,229,1948,1707,4092,0.0,0.0,0,18,6.85,0.00,0.00,0.000,2049,0.101,0.000,801,1948,1706,1706,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.21,51.06
$GC,22,-1.78,-487.5,801,1948,1707,4094,0.8,0.0,1,52,10.40,1.20,-12.70,0.000,18692,0.047,1.261,1763,2392,3053,3053,4095,0,0,0,0,0,0,25.92,24.48,25.98,10.22,51.06
$GC,148,-1.78,-487.5,1762,2392,3056,4095,12.7,-18.6,21,155,0.00,1.10,0.00,0.000,1030,0.000,0.027,1763,1954,3056,3056,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.50,51.22
$GC,188,-1.78,-487.5,1762,1953,3058,4094,20.8,-18.9,27,195,0.00,1.10,0.00,0.000,516,0.000,0.050,1763,1518,3058,3058,4095,0,0,0,0,0,0,26.26,25.97,26.27,10.50,51.14
$GC,276,-1.78,-487.5,1762,1518,3060,4095,31.3,-10.2,41,283,0.00,1.02,0.00,0.000,1030,0.000,0.024,1763,1968,3060,3060,4094,0,0,0,0,0,0,26.14,26.12,26.16,10.41,49.05
$GC,317,-1.78,-487.5,1762,1970,3060,4094,35.4,-9.6,47,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1970,3060,3060,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.38,48.30
$GC,356,-1.78,-487.5,1762,1970,3061,4095,39.1,-9.5,53,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1970,3061,3061,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.38,47.08
$GC,395,-1.78,-487.5,1762,1970,3062,4094,42.7,-9.2,59,402,0.00,1.17,0.00,0.000,516,0.000,0.051,1763,1519,3062,3062,4094,0,0,0,0,0,0,26.41,26.10,26.43,10.38,46.69
$STATE,574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,574,begin apogee
$GC,584,-0.45,0.0,1763,2124,3065,4095,60.5,-10.3,88,620,4.53,0.00,28.20,1.320,10244,0.050,0.000,2186,2124,2484,2484,4094,0,0,0,0,0,0,26.22,25.29,24.21,10.34,46.25
$STATE,621,end apogee,CONTROL_FINISHED_OK
$STATE,621,begin climb
$GC,624,1.78,487.5,2186,2124,2484,4094,64.2,0.0,94,666,7.53,0.00,28.10,1.297,11270,0.031,0.000,2893,2124,1915,1915,4094,0,0,0,0,0,0,25.57,25.72,23.80,10.21,45.51
$GC,699,1.78,489.3,2892,2124,1915,4094,59.4,10.5,106,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2124,1915,1915,4094,0,0,0,0,0,0,25.53,25.54,25.54,10.09,45.23
$GC,738,1.78,489.3,2892,2123,1914,4094,55.1,11.6,112,745,0.00,1.17,0.00,0.000,260,0.000,0.051,2892,2557,1914,1914,4094,0,0,0,0,0,0,25.70,25.41,25.71,10.09,45.62
$GC,784,1.78,489.3,2893,2557,1913,4094,50.3,10.8,119,790,0.00,1.05,0.00,0.000,1030,0.000,0.025,2893,2135,1913,1913,4094,0,0,0,0,0,0,25.63,25.61,25.66,10.09,45.66
$GC,824,1.85,533.7,2893,2135,1912,4094,46.3,9.9,125,832,0.12,0.00,4.25,0.661,10246,0.067,0.000,2913,2135,1861,1861,4094,0,0,0,0,0,0,25.72,25.39,24.37,10.07,46.25
$GC,865,1.86,543.2,2912,2134,1860,4094,42.1,10.4,131,872,0.00,0.00,2.38,0.209,8198,0.000,0.000,2913,2135,1851,1851,4094,0,0,0,0,0,0,25.94,25.44,24.42,10.06,46.77
$GC,905,1.86,543.8,2912,2135,1850,4094,37.9,10.5,137,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2135,1850,1850,4095,0,0,0,0,0,0,26.01,26.03,26.02,10.06,46.96
$GC,944,1.86,543.8,2912,2134,1848,4095,33.6,10.9,143,951,0.00,1.17,0.00,0.000,260,0.000,0.051,2913,2559,1849,1849,4094,0,0,0,0,0,0,26.07,25.75,26.08,10.05,47.12
$GC,1183,1.99,631.0,2912,2559,1843,4094,10.5,9.2,182,1197,0.43,1.02,5.85,0.559,11270,0.025,0.026,2968,2131,1747,1747,4094,0,0,0,0,0,0,26.10,26.10,24.99,10.15,52.12
$GC,1230,2.11,710.3,2967,2131,1747,4094,6.2,9.4,189,1244,0.22,1.15,5.88,0.521,10500,0.044,0.052,2995,2560,1654,1654,4094,0,0,0,0,0,0,26.08,25.54,25.02,10.14,53.11
$STATE,1268,end climb,FINISH_DEPTH_REACHED
$STATE,1268,begin subsurface finish
$FINISH1,1.9,1.023730,130
$GC,1279,0.20,130.3,2995,2147,1653,4094,1.9,10.6,195,1298,6.45,1.17,-6.10,0.000,20740,0.062,1.282,2411,2563,2335,2335,4095,0,0,0,0,0,0,25.96,24.55,26.01,10.13,54.09
$FINISH2,0.1
$STATE,1299,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1299,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,041723
$TT8_MAMPS,0.026215,0.159537
$HUMID,54.72
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.80,35.227
$10V_AH,10.27,36.511
$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,36.525,14.900,74.650,0.000,0.000,22.064,22.851,271.427,0.000,0.000,52.357,511.667,329.976,160.567,629.664,234.842,0.000,364.854,0.000,296.918,0.000,0.542,0.000
$DEVICE_MAMPS,100.980,1282.140,1320.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,133.430,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,14296,198
$CAP_FILE_SIZE,35666,0
$CFSIZE,1024409600,957808640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180817,053609,6203.959,-17425.412,5,0.8,51,6.8,0.5,94.9,10,5.7