version: 66.13
glider: 401
mission: 22
dive: 1270
start: 8 18 117 11 38 20
data:
$ID,401
$MISSION,22
$DIVE,1270
$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,51
$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
$GPS1,180817,112936,6200.5244,-17424.8652,8,0.9,15,6.8,0.6,259.1,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-41.4
$GPS2,180817,113744,6200.5527,-17424.9102,5,0.9,18,6.8,0.0,36.6,10,4.7
$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,153.2,7829,-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,-487.5,237,1985,1707,4092,0.0,0.0,0,21,9.65,0.00,0.00,0.000,2049,0.100,0.000,1043,1985,1707,1707,4094,0,0,0,0,0,0,26.18,28.83,28.83,10.20,51.92
$GC,25,-1.78,-487.5,1043,1986,1707,4094,0.8,0.0,1,53,7.75,1.00,-12.65,0.000,18692,0.043,1.262,1762,2354,3053,3053,4094,0,0,0,0,0,0,25.89,24.45,25.96,10.21,51.92
$GC,129,-1.78,-487.5,1761,2355,3055,4094,11.7,-18.3,15,138,0.00,1.02,0.00,0.000,1030,0.000,0.029,1762,1950,3056,3056,4095,0,0,0,0,0,0,25.96,25.92,25.98,10.50,51.26
$GC,176,-1.78,-487.5,1761,1950,3057,4095,20.4,-18.7,21,186,0.00,1.08,0.00,0.000,516,0.000,0.047,1762,1520,3058,3058,4094,0,0,0,0,0,0,26.24,25.91,26.25,10.50,50.90
$GC,243,-1.78,-487.5,1760,1520,3059,4094,29.6,-12.3,30,252,0.00,0.93,0.00,0.000,1030,0.000,0.027,1762,1919,3060,3060,4095,0,0,0,0,0,0,26.07,26.07,26.15,10.43,49.92
$GC,290,-1.78,-487.5,1761,1919,3060,4095,35.6,-12.7,36,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1920,3060,3060,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.41,48.93
$GC,338,-1.78,-487.5,1761,1921,3061,4095,41.4,-12.3,42,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1921,3061,3061,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,48.14
$GC,385,-1.78,-487.5,1761,1921,3062,4095,47.2,-12.5,48,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1921,3062,3062,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.38,46.96
$GC,433,-1.78,-487.5,1761,1921,3063,4095,53.3,-12.9,54,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1921,3063,3063,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.37,46.18
$GC,481,-1.78,-487.5,1761,1921,3064,4095,59.5,-13.0,60,489,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1921,3065,3065,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.36,45.55
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,506,-0.45,0.0,1762,2140,3065,4095,62.3,-13.2,62,542,4.57,0.00,28.42,1.336,10244,0.056,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.15,25.23,24.15,10.35,45.94
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,547,1.78,487.5,2185,2140,2484,4094,65.5,0.0,66,592,7.57,0.00,27.98,1.306,11270,0.032,0.000,2892,2140,1919,1919,4094,0,0,0,0,0,0,25.53,25.67,23.77,10.23,45.55
$GC,631,1.78,487.5,2892,2140,1918,4094,58.8,12.4,76,640,0.00,1.12,0.00,0.000,516,0.000,0.044,2892,1715,1917,1917,4094,0,0,0,0,0,0,25.56,25.28,25.57,10.09,44.80
$GC,729,1.78,487.5,2892,1714,1915,4094,45.7,13.0,90,739,0.00,1.00,0.00,0.000,1030,0.000,0.029,2893,2119,1914,1914,4094,0,0,0,0,0,0,25.67,25.63,25.68,10.08,45.19
$GC,776,1.78,487.5,2892,2119,1913,4094,39.6,13.1,96,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2119,1913,1913,4095,0,0,0,0,0,0,25.98,25.98,25.98,10.08,45.27
$GC,822,1.78,487.5,2892,2119,1912,4095,33.8,12.3,102,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2119,1912,1912,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.07,45.82
$GC,868,1.78,487.5,2892,2118,1911,4094,28.4,11.5,108,877,0.00,1.08,0.00,0.000,516,0.000,0.045,2892,1713,1911,1911,4094,0,0,0,0,0,0,26.11,25.80,26.13,10.08,46.25
$GC,941,1.94,598.7,2892,1713,1909,4094,20.8,8.9,118,960,0.47,1.02,7.22,0.688,11270,0.033,0.031,2944,2132,1786,1786,4094,0,0,0,0,0,0,25.98,25.94,24.77,10.11,47.24
$GC,1000,2.06,672.6,2943,2131,1785,4094,15.7,9.4,125,1009,0.30,0.00,5.60,0.571,10246,0.037,0.000,2983,2132,1699,1699,4094,0,0,0,0,0,0,25.96,25.63,24.82,10.14,50.15
$GC,1048,2.06,672.6,2982,2131,1698,4094,10.5,11.3,131,1058,0.00,1.12,0.00,0.000,516,0.000,0.046,2983,1707,1697,1697,4094,0,0,0,0,0,0,26.15,25.84,26.17,10.13,51.06
$STATE,1118,end climb,FINISH_DEPTH_REACHED
$STATE,1118,begin subsurface finish
$FINISH1,1.8,1.023782,127
$GC,1128,0.19,126.7,2982,2140,1695,4094,1.8,11.4,141,1147,5.97,0.00,-5.68,0.000,20486,0.019,0.000,2403,2141,2342,2342,4094,0,0,0,0,0,0,26.02,25.43,26.06,10.14,52.71
$FINISH2,0.3
$STATE,1148,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1148,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,102146
$TT8_MAMPS,0.025466,0.25466
$HUMID,52.04
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.77,35.665
$10V_AH,10.11,36.873
$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,36.300,11.000,69.225,0.000,0.000,23.544,22.139,248.009,0.000,0.000,19.769,406.942,0.000,131.692,882.856,230.115,0.000,384.790,0.000,350.111,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1262.250,1336.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.449,388.563,307.455,456.015,596.221,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329400
$DATA_FILE_SIZE,14373,143
$CAP_FILE_SIZE,31952,0
$CFSIZE,1024409600,957087744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180817,113744,6200.553,-17424.910,5,0.9,18,6.8,0.0,36.6,10,4.7