version: 66.13
glider: 401
mission: 22
dive: 1244
start: 8 18 117 1 12 20
data:
$ID,401
$MISSION,22
$DIVE,1244
$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,48
$R_STBD_OVSHOOT,55
$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
$GPS1,180817,005125,6205.3799,-17429.6777,6,0.8,27,6.7,0.3,32.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.5
$GPS2,180817,005125,6205.3799,-17429.6777,6,0.8,27,6.7,0.3,32.0,10,4.9
$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,150.6,17670,-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,10,-1.78,-487.5,2400,1989,2340,4092,0.0,0.0,0,21,6.50,0.00,-2.47,0.000,20482,0.024,0.000,1772,1989,2600,2600,4094,0,0,0,0,0,0,26.03,28.83,26.08,10.30,52.75
$GC,25,-1.78,-487.5,1771,1989,2601,4094,0.0,0.0,1,35,0.00,0.00,-4.25,0.000,16390,0.000,0.000,1772,1989,3057,3057,4094,0,0,0,0,0,0,26.25,24.89,26.26,10.36,52.67
$GC,72,-1.78,-487.5,1771,1989,3058,4094,4.7,-14.2,7,81,0.00,1.15,0.00,0.000,516,0.000,0.048,1772,1543,3059,3059,4094,0,0,0,0,0,0,26.22,25.91,26.23,10.46,53.81
$GC,145,-1.78,-487.5,1770,1542,3061,4094,17.9,-18.3,17,154,0.00,0.90,0.00,0.000,1030,0.000,0.030,1771,1925,3061,3061,4095,0,0,0,0,0,0,26.06,26.05,26.12,10.46,52.59
$GC,193,-1.78,-487.5,1771,1925,3062,4095,25.2,-13.8,23,202,0.00,1.17,0.00,0.000,260,0.000,0.046,1771,2370,3062,3062,4095,0,0,0,0,0,0,26.33,26.01,26.34,10.42,52.24
$GC,285,-1.78,-487.5,1770,2370,3064,4095,37.1,-12.2,36,294,0.00,0.95,0.00,0.000,1030,0.000,0.028,1771,1990,3064,3064,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.37,49.88
$GC,333,-1.78,-487.5,1770,1990,3066,4095,42.8,-12.4,42,341,0.00,1.20,0.00,0.000,516,0.000,0.049,1771,1519,3066,3066,4094,0,0,0,0,0,0,26.42,26.10,26.43,10.36,49.29
$GC,398,-1.78,-487.5,1771,1519,3067,4094,51.3,-12.3,51,407,0.00,1.05,0.00,0.000,1030,0.000,0.027,1771,1965,3067,3067,4095,0,0,0,0,0,0,26.25,26.21,26.28,10.34,48.38
$GC,445,-1.78,-487.5,1771,1964,3067,4095,57.1,-12.6,57,454,0.00,1.05,0.00,0.000,260,0.000,0.046,1771,2368,3068,3068,4095,0,0,0,0,0,0,26.48,26.17,26.49,10.33,47.36
$STATE,470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,470,begin apogee
$GC,479,-0.45,0.0,1771,2113,3069,4094,60.5,-12.5,60,515,4.47,0.00,28.42,1.312,10244,0.057,0.000,2185,2110,2484,2484,4094,0,0,0,0,0,0,26.17,25.28,24.21,10.33,46.88
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,519,1.78,487.5,2185,2110,2484,4094,63.7,0.0,64,564,7.53,0.98,28.23,1.282,10756,0.032,0.042,2894,1731,1915,1915,4094,0,0,0,0,0,0,25.49,25.45,23.80,10.20,46.69
$GC,603,1.78,487.5,2894,1731,1914,4094,56.9,12.7,74,612,0.00,1.00,0.00,0.000,1030,0.000,0.030,2894,2130,1913,1913,4094,0,0,0,0,0,0,25.34,25.34,25.37,10.07,45.39
$GC,651,1.78,487.5,2894,2129,1912,4094,50.5,13.3,80,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2130,1912,1912,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.06,45.31
$GC,699,1.78,487.5,2894,2130,1911,4094,44.1,13.2,86,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2130,1911,1911,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.06,45.51
$GC,745,1.78,487.5,2894,2130,1910,4094,38.2,12.9,92,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2130,1909,1909,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.05,46.25
$GC,793,1.78,487.5,2894,2130,1908,4094,32.1,12.3,98,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2130,1909,1909,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.05,46.45
$GC,841,1.78,487.5,2894,2130,1907,4094,26.6,11.5,104,850,0.00,1.05,0.00,0.000,516,0.000,0.045,2895,1734,1907,1907,4094,0,0,0,0,0,0,26.12,25.82,26.13,10.05,47.48
$GC,959,1.99,626.2,2894,1733,1904,4094,15.0,8.5,121,979,0.60,1.00,8.40,0.669,11270,0.030,0.031,2963,2143,1752,1752,4094,0,0,0,0,0,0,26.01,25.98,24.88,10.13,50.35
$GC,1018,1.99,626.2,2962,2142,1750,4094,9.3,10.6,128,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2143,1750,1750,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,51.29
$GC,1066,1.99,626.2,2962,2142,1749,4094,3.7,11.7,134,1075,0.00,1.08,0.00,0.000,516,0.000,0.044,2963,1732,1748,1748,4094,0,0,0,0,0,0,26.24,25.94,26.25,10.13,51.89
$STATE,1083,end climb,FINISH_DEPTH_REACHED
$STATE,1083,begin subsurface finish
$FINISH1,1.1,1.023760,128
$GC,1094,0.19,128.3,2963,2137,1748,4094,1.1,11.5,136,1113,5.80,1.12,-5.38,0.000,20996,0.026,1.275,2404,1735,2336,2336,4095,0,0,0,0,0,0,26.03,24.58,26.08,10.14,52.28
$FINISH2,0.1
$STATE,1114,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1114,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,170817,233557
$TT8_MAMPS,0.026215,0.251664
$HUMID,52.55
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.80,34.902
$10V_AH,10.13,36.260
$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,24.900,15.850,65.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,397.745,0.000,122.150,574.003,79.618,0.000,355.435,0.000,336.283,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,1275.255,1311.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.182,374.864,296.817,439.936,571.543,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,14349,138
$CAP_FILE_SIZE,27758,0
$CFSIZE,1024409600,958365696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180817,005125,6205.380,-17429.678,6,0.8,27,6.7,0.3,32.0,10,4.9