version: 66.13
glider: 401
mission: 22
dive: 1264
start: 8 18 117 9 15 17
data:
$ID,401
$MISSION,22
$DIVE,1264
$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,37
$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
$GPS1,180817,090651,6201.6558,-17424.6719,5,0.8,14,6.8,0.0,223.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-40.6
$GPS2,180817,091441,6201.6221,-17424.7090,5,0.8,19,6.8,0.3,218.0,10,4.8
$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,158.2,9667,-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,-487.5,236,1967,1761,4092,0.0,0.0,0,21,9.65,0.00,0.00,0.000,2049,0.103,0.000,1039,1966,1761,1761,4094,0,0,0,0,0,0,26.20,28.83,28.83,10.21,52.08
$GC,25,-1.78,-487.5,1039,1965,1761,4094,0.8,0.0,1,52,7.82,1.10,-12.27,0.000,18692,0.045,1.264,1763,2368,3056,3056,4095,0,0,0,0,0,0,25.91,24.46,25.98,10.21,51.69
$GC,203,-1.78,-487.5,1763,2369,3060,4095,24.0,-14.7,26,213,0.00,1.05,0.00,0.000,1030,0.000,0.030,1763,1948,3061,3061,4094,0,0,0,0,0,0,26.02,25.99,26.06,10.45,50.43
$GC,252,-1.78,-487.5,1763,1948,3061,4094,29.9,-12.6,32,262,0.00,1.08,0.00,0.000,516,0.000,0.050,1763,1524,3062,3062,4094,0,0,0,0,0,0,26.32,26.00,26.32,10.41,50.07
$GC,325,-1.78,-487.5,1763,1523,3063,4094,39.5,-12.8,42,335,0.00,0.95,0.00,0.000,1030,0.000,0.026,1764,1934,3063,3063,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.38,47.63
$GC,373,-1.78,-487.5,1763,1934,3065,4094,45.6,-13.1,48,382,0.00,1.15,0.00,0.000,260,0.000,0.045,1764,2373,3064,3064,4095,0,0,0,0,0,0,26.40,26.08,26.41,10.37,47.28
$GC,445,-1.78,-487.5,1763,2374,3066,4095,55.2,-12.7,58,455,0.00,1.08,0.00,0.000,1030,0.000,0.031,1763,1941,3066,3066,4095,0,0,0,0,0,0,26.21,26.15,26.22,10.35,46.02
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,491,-0.45,0.0,1763,2142,3067,4095,60.5,-13.3,63,527,4.55,0.00,28.42,1.317,10244,0.056,0.000,2185,2142,2484,2484,4094,0,0,0,0,0,0,26.15,25.25,24.18,10.34,45.86
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,532,1.78,487.5,2185,2142,2484,4094,63.6,0.0,67,576,7.53,1.12,28.12,1.290,10500,0.031,0.051,2890,2560,1915,1915,4094,0,0,0,0,0,0,25.46,25.40,23.79,10.22,45.31
$GC,588,1.86,543.8,2890,2560,1915,4094,60.4,9.7,73,599,0.22,1.08,4.95,0.816,11270,0.036,0.025,2919,2133,1849,1849,4094,0,0,0,0,0,0,25.18,25.18,23.90,10.09,44.68
$GC,638,1.86,543.8,2918,2132,1848,4094,54.1,13.4,79,648,0.00,1.08,0.00,0.000,516,0.000,0.046,2919,1726,1848,1848,4094,0,0,0,0,0,0,25.60,25.32,25.61,10.07,44.44
$GC,744,1.86,543.8,2919,1726,1845,4094,39.5,13.7,94,753,0.00,0.98,0.00,0.000,1030,0.000,0.030,2919,2121,1845,1845,4094,0,0,0,0,0,0,25.68,25.66,25.72,10.06,45.03
$GC,791,1.86,543.8,2918,2121,1843,4094,33.1,13.7,100,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2121,1843,1843,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.05,45.39
$GC,839,1.86,543.8,2918,2121,1842,4094,26.9,13.1,106,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2121,1841,1841,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.05,46.49
$GC,886,1.86,543.8,2918,2121,1841,4094,21.1,11.8,112,895,0.00,1.05,0.00,0.000,516,0.000,0.044,2919,1725,1840,1840,4094,0,0,0,0,0,0,26.13,25.82,26.15,10.07,46.25
$GC,1043,1.94,595.6,2919,1724,1837,4094,6.1,9.8,135,1054,0.17,0.95,3.88,0.389,11270,0.037,0.028,2943,2120,1788,1788,4094,0,0,0,0,0,0,26.06,26.03,25.03,10.16,52.08
$STATE,1089,end climb,FINISH_DEPTH_REACHED
$STATE,1089,begin subsurface finish
$FINISH1,1.4,1.023777,127
$GC,1099,0.19,127.1,2943,2120,1787,4094,1.4,9.7,141,1117,5.60,0.00,-5.05,0.000,20486,0.026,0.000,2403,2120,2339,2339,4095,0,0,0,0,0,0,26.08,25.47,26.12,10.16,51.85
$FINISH2,0.2
$STATE,1118,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,075843
$TT8_MAMPS,0.025466,0.244174
$HUMID,52.28
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.79,35.491
$10V_AH,10.13,36.733
$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,35.550,13.150,65.375,0.000,0.000,25.432,19.635,231.363,0.000,0.000,20.619,407.427,0.000,112.218,864.308,220.051,0.000,341.196,0.000,349.848,0.000,0.544,0.000
$DEVICE_MAMPS,103.275,1263.780,1317.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.011,388.550,307.469,456.209,595.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329352
$DATA_FILE_SIZE,14330,143
$CAP_FILE_SIZE,29806,0
$CFSIZE,1024409600,957382656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180817,091441,6201.622,-17424.709,5,0.8,19,6.8,0.3,218.0,10,4.8