version: 66.13
glider: 401
mission: 22
dive: 1256
start: 8 18 117 6 0 12
data:
$ID,401
$MISSION,22
$DIVE,1256
$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,20
$R_STBD_OVSHOOT,31
$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
$GPS1,180817,053609,6203.9590,-17425.4121,5,0.8,51,6.8,0.5,94.9,10,5.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.3
$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,-487.5,2410,1961,2335,4092,0.0,0.0,0,21,6.57,0.00,-2.97,0.000,20482,0.025,0.000,1773,1961,2648,2648,4094,0,0,0,0,0,0,26.06,28.83,26.10,10.29,54.64
$GC,25,-1.78,-487.5,1772,1961,2648,4094,0.0,0.0,1,35,0.00,1.17,-3.78,0.000,16900,0.000,1.274,1772,1518,3059,3059,4094,0,0,0,0,0,0,26.28,24.58,26.29,10.36,54.37
$GC,66,-1.78,-487.5,1771,1517,3059,4094,4.1,-12.8,6,76,0.00,1.02,0.00,0.000,1030,0.000,0.028,1772,1946,3060,3060,4095,0,0,0,0,0,0,26.01,25.97,26.06,10.44,55.11
$GC,113,-1.78,-487.5,1772,1946,3061,4095,12.5,-18.5,12,123,0.00,1.12,0.00,0.000,260,0.000,0.049,1772,2372,3061,3061,4095,0,0,0,0,0,0,26.27,25.96,26.28,10.45,54.29
$GC,199,-1.78,-487.5,1772,2372,3063,4095,26.2,-12.2,24,209,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1945,3063,3063,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.40,53.22
$GC,247,-1.78,-487.5,1772,1945,3064,4095,31.7,-11.7,30,255,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3064,3064,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,52.24
$GC,293,-1.78,-487.5,1772,1944,3065,4095,37.2,-12.0,36,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3066,3066,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.36,50.35
$GC,339,-1.78,-487.5,1772,1945,3067,4094,43.0,-12.6,42,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1944,3067,3067,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.35,49.44
$GC,384,-1.78,-487.5,1771,1945,3068,4095,48.8,-13.0,48,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3067,3067,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.33,48.70
$GC,431,-1.78,-487.5,1771,1945,3068,4094,54.9,-13.4,54,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3069,3069,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.32,48.38
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,483,-0.45,0.0,1772,2143,3070,4095,60.8,-13.0,60,519,4.45,0.00,28.50,1.323,10244,0.057,0.000,2184,2143,2484,2484,4094,0,0,0,0,0,0,26.19,25.28,24.21,10.32,48.38
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,524,1.78,487.5,2184,2143,2484,4094,64.1,0.0,64,568,7.60,0.00,27.98,1.293,11270,0.032,0.000,2893,2143,1919,1919,4095,0,0,0,0,0,0,25.55,25.70,23.78,10.19,47.44
$GC,607,1.78,487.5,2892,2143,1918,4095,57.9,11.7,74,616,0.00,1.12,0.00,0.000,516,0.000,0.044,2893,1722,1918,1918,4094,0,0,0,0,0,0,25.56,25.29,25.58,10.06,46.10
$GC,688,1.78,487.5,2892,1722,1915,4094,47.6,12.9,85,698,0.00,1.00,0.00,0.000,1030,0.000,0.029,2893,2126,1915,1915,4094,0,0,0,0,0,0,25.63,25.58,25.64,10.05,46.29
$GC,737,1.78,487.5,2892,2125,1914,4094,41.5,12.7,91,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1914,1914,4095,0,0,0,0,0,0,25.95,25.96,25.96,10.05,46.96
$GC,784,1.78,487.5,2892,2125,1913,4095,35.3,13.0,97,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1912,1912,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.04,47.55
$GC,832,1.78,487.5,2893,2125,1911,4094,29.1,13.1,103,841,0.00,1.08,0.00,0.000,516,0.000,0.045,2893,1720,1911,1911,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.04,47.04
$GC,951,2.06,674.4,2893,1719,1907,4094,16.5,7.8,120,970,0.85,1.00,10.98,0.731,11270,0.026,0.030,2983,2129,1697,1697,4094,0,0,0,0,0,0,26.03,25.96,24.81,10.11,50.27
$GC,1009,2.06,674.4,2982,2129,1695,4094,10.5,11.5,127,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2129,1695,1695,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.10,51.85
$GC,1056,2.06,674.4,2982,2129,1694,4094,4.9,11.9,133,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2129,1693,1693,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.11,52.24
$STATE,1079,end climb,FINISH_DEPTH_REACHED
$STATE,1079,begin subsurface finish
$FINISH1,1.7,1.023747,129
$GC,1088,0.19,129.2,2983,2129,1692,4094,1.7,11.9,136,1107,6.00,0.00,-5.88,0.000,20486,0.023,0.000,2403,2129,2338,2338,4094,0,0,0,0,0,0,25.99,25.40,26.04,10.12,52.16
$FINISH2,0.1
$STATE,1108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,041723
$TT8_MAMPS,0.026215,0.234437
$HUMID,53.81
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.30
$XPDR_PINGS,0
$24V_AH,23.78,35.250
$10V_AH,10.14,36.542
$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,25.475,10.675,67.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.542,0.000,123.279,577.530,79.678,0.000,359.303,0.000,337.101,0.000,0.541,0.000
$DEVICE_MAMPS,56.610,1273.725,1322.685,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.292,374.945,296.753,439.962,574.169,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330748
$DATA_FILE_SIZE,14267,138
$CAP_FILE_SIZE,26385,0
$CFSIZE,1024409600,957775872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180817,053609,6203.959,-17425.412,5,0.8,51,6.8,0.5,94.9,10,5.7