version: 66.13
glider: 401
mission: 22
dive: 1300
start: 8 18 117 23 44 26
data:
$ID,401
$MISSION,22
$DIVE,1300
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,180817,233502,6157.7134,-17420.7539,9,0.7,21,6.8,0.2,18.7,12,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-39.2
$GPS2,180817,234350,6157.7686,-17420.8262,5,0.8,41,6.8,0.7,346.9,11,4.1
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,128.5,36844,-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,-487.5,229,1951,1746,4092,0.0,0.0,0,21,9.52,0.00,0.00,0.000,2049,0.094,0.000,1034,1951,1747,1747,4094,0,0,0,0,0,0,26.21,28.83,28.83,10.22,51.85
$GC,25,-1.78,-487.5,1034,1955,1747,4094,0.8,0.0,1,52,7.78,1.15,-12.23,0.000,18692,0.037,1.258,1763,2378,3055,3055,4095,0,0,0,0,0,0,25.94,24.46,26.00,10.22,51.73
$GC,243,-1.78,-487.5,1763,2378,3060,4095,28.1,-12.8,32,253,0.00,1.02,0.00,0.000,1030,0.000,0.028,1764,1971,3060,3060,4095,0,0,0,0,0,0,26.09,26.06,26.11,10.44,50.39
$GC,290,-1.78,-487.5,1763,1971,3061,4095,34.3,-13.6,38,300,0.00,1.17,0.00,0.000,516,0.000,0.050,1764,1510,3061,3061,4094,0,0,0,0,0,0,26.35,26.03,26.36,10.42,48.46
$GC,402,-1.78,-487.5,1763,1510,3064,4094,49.3,-13.8,54,412,0.00,1.00,0.00,0.000,1030,0.000,0.025,1764,1939,3064,3064,4095,0,0,0,0,0,0,26.23,26.18,26.23,10.38,46.69
$GC,449,-1.78,-487.5,1763,1939,3065,4095,55.5,-13.2,60,459,0.00,1.12,0.00,0.000,260,0.000,0.045,1764,2373,3065,3065,4095,0,0,0,0,0,0,26.45,26.14,26.46,10.37,45.74
$STATE,486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,486,begin apogee
$GC,495,-0.45,0.0,1764,2106,3066,4095,60.9,-13.3,65,532,4.55,0.00,28.35,1.318,10244,0.055,0.000,2185,2105,2484,2484,4094,0,0,0,0,0,0,26.16,25.26,24.18,10.36,46.22
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,536,1.78,487.5,2185,2105,2484,4094,64.0,0.0,69,580,7.57,0.00,28.08,1.291,11270,0.031,0.000,2893,2105,1916,1916,4094,0,0,0,0,0,0,25.54,25.70,23.80,10.23,44.95
$GC,619,1.78,487.5,2892,2104,1915,4094,57.5,12.7,79,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2105,1915,1915,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.11,43.93
$GC,667,1.78,487.5,2892,2104,1914,4094,50.9,13.6,85,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2105,1914,1914,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.09,44.29
$GC,714,1.78,487.5,2892,2104,1913,4094,44.6,13.3,91,724,0.00,0.98,0.00,0.000,516,0.000,0.047,2893,1731,1912,1912,4094,0,0,0,0,0,0,25.88,25.58,25.89,10.08,45.19
$GC,820,1.78,487.5,2892,1731,1909,4094,30.9,12.4,106,830,0.00,0.98,0.00,0.000,1030,0.000,0.031,2893,2128,1909,1909,4094,0,0,0,0,0,0,25.85,25.81,25.86,10.07,45.62
$GC,867,1.78,487.5,2892,2128,1907,4094,24.9,12.8,112,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2128,1907,1907,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.08,45.98
$GC,914,1.78,487.5,2892,2128,1906,4094,19.6,11.1,118,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2128,1907,1907,4095,0,0,0,0,0,0,26.20,26.20,26.20,10.12,46.61
$GC,962,1.93,588.6,2892,2128,1905,4095,15.4,9.0,124,974,0.43,1.05,6.60,0.614,10756,0.036,0.046,2941,1730,1796,1796,4094,0,0,0,0,0,0,26.03,25.74,24.87,10.15,49.13
$GC,1081,1.94,597.9,2940,1729,1794,4094,3.5,10.4,140,1091,0.00,0.98,1.33,0.003,9222,0.000,0.033,2941,2125,1793,1793,4094,0,0,0,0,0,0,26.03,26.00,26.07,10.16,51.57
$STATE,1099,end climb,FINISH_DEPTH_REACHED
$STATE,1099,begin subsurface finish
$FINISH1,0.8,1.023757,129
$GC,1109,0.19,128.5,2941,2125,1793,4094,0.8,10.2,142,1128,5.53,1.27,-4.93,0.000,20740,0.021,1.279,2405,2572,2339,2339,4094,0,0,0,0,0,0,26.06,24.56,26.11,10.17,51.61
$FINISH2,0.2
$STATE,1129,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1129,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,222724
$TT8_MAMPS,0.026215,0.242676
$HUMID,52.00
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.80,36.549
$10V_AH,10.13,37.584
$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,35.375,11.350,64.350,0.000,0.000,22.900,35.295,241.795,0.000,0.000,42.743,408.731,0.000,112.143,922.708,228.653,0.000,341.322,0.000,352.065,0.000,0.542,0.000
$DEVICE_MAMPS,94.095,1279.080,1318.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.765,391.261,309.597,459.445,600.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,14289,144
$CAP_FILE_SIZE,29013,0
$CFSIZE,1024409600,955613184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180817,234350,6157.769,-17420.826,5,0.8,41,6.8,0.7,346.9,11,4.1