version: 66.13
glider: 401
mission: 22
dive: 1246
start: 8 18 117 2 2 41
data:
$ID,401
$MISSION,22
$DIVE,1246
$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,13
$R_STBD_OVSHOOT,54
$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
$GPS1,180817,015405,6205.3237,-17428.8281,22,0.7,26,6.7,0.4,291.9,11,4.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-43.5
$GPS2,180817,020205,6205.3765,-17428.7734,6,0.7,18,6.7,0.5,340.9,11,4.6
$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,153.0,17374,-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,6,begin dive
$GC,10,-1.78,-487.5,236,1964,1778,4091,0.0,0.0,0,21,8.93,0.00,0.00,0.000,2049,0.103,0.000,979,1960,1778,1778,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.22,51.96
$GC,25,-1.78,-487.5,978,1964,1778,4094,0.8,0.0,1,52,8.50,1.08,-12.15,0.000,18692,0.047,1.261,1764,2353,3055,3055,4095,0,0,0,0,0,0,25.90,24.47,25.97,10.22,51.85
$GC,225,-1.78,-487.5,1763,2352,3060,4095,26.7,-13.5,29,234,0.00,1.05,0.00,0.000,1030,0.000,0.030,1764,1932,3060,3060,4095,0,0,0,0,0,0,26.06,26.01,26.07,10.44,50.03
$GC,273,-1.78,-487.5,1764,1932,3062,4095,32.7,-11.6,35,283,0.00,1.02,0.00,0.000,516,0.000,0.050,1764,1527,3061,3061,4094,0,0,0,0,0,0,26.33,26.03,26.34,10.40,49.29
$GC,379,-1.78,-487.5,1763,1526,3064,4094,46.7,-13.4,50,389,0.00,0.90,0.00,0.000,1030,0.000,0.026,1764,1920,3064,3064,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.37,46.77
$GC,426,-1.78,-487.5,1764,1920,3065,4094,52.9,-13.4,56,435,0.00,1.15,0.00,0.000,260,0.000,0.044,1764,2362,3065,3065,4094,0,0,0,0,0,0,26.43,26.12,26.44,10.36,46.85
$STATE,482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,482,begin apogee
$GC,491,-0.45,0.0,1764,2114,3067,4094,60.7,-12.7,64,527,4.55,0.00,28.40,1.320,10244,0.057,0.000,2185,2111,2484,2484,4094,0,0,0,0,0,0,26.15,25.25,24.17,10.35,46.29
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,532,1.78,487.5,2185,2111,2484,4094,64.0,0.0,68,576,7.57,0.00,28.17,1.290,11270,0.031,0.000,2892,2111,1916,1916,4094,0,0,0,0,0,0,25.53,25.68,23.79,10.22,45.47
$GC,615,1.78,487.5,2892,2111,1915,4094,57.4,12.3,78,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2111,1914,1914,4094,0,0,0,0,0,0,25.56,25.58,25.57,10.09,44.36
$GC,663,1.78,487.5,2892,2111,1913,4094,51.1,13.4,84,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2111,1913,1913,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.08,44.44
$GC,710,1.78,487.5,2892,2111,1911,4094,44.7,13.3,90,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2111,1911,1911,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.07,45.31
$GC,758,1.78,487.5,2892,2111,1910,4094,38.6,12.5,96,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2111,1910,1910,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.07,45.55
$GC,805,1.78,487.5,2892,2111,1909,4094,32.4,12.9,102,815,0.00,0.98,0.00,0.000,516,0.000,0.046,2893,1736,1908,1908,4094,0,0,0,0,0,0,26.05,25.75,26.06,10.07,45.39
$GC,944,1.93,591.8,2892,1736,1905,4094,17.0,9.0,122,955,0.45,0.95,6.72,0.636,11270,0.032,0.028,2942,2128,1793,1793,4094,0,0,0,0,0,0,26.00,25.97,24.84,10.13,49.29
$GC,995,1.98,622.0,2941,2127,1791,4094,12.3,10.1,128,1004,0.00,0.00,3.38,0.360,8198,0.000,0.000,2942,2127,1756,1756,4094,0,0,0,0,0,0,26.18,25.44,24.90,10.13,51.10
$GC,1044,2.00,633.4,2942,2127,1756,4094,7.2,10.4,134,1054,0.12,0.00,2.33,0.131,10246,0.063,0.000,2966,2127,1745,1745,4094,0,0,0,0,0,0,26.01,25.49,24.99,10.14,51.18
$STATE,1089,end climb,FINISH_DEPTH_REACHED
$STATE,1089,begin subsurface finish
$FINISH1,1.4,1.023764,128
$GC,1099,0.19,128.0,2966,2127,1744,4094,1.4,12.2,140,1118,5.85,1.08,-5.28,0.000,20996,0.025,1.269,2402,1738,2335,2335,4095,0,0,0,0,0,0,26.04,24.57,26.08,10.15,51.69
$FINISH2,0.3
$STATE,1119,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1119,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,004608
$TT8_MAMPS,0.025466,0.248668
$HUMID,52.32
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.79,34.964
$10V_AH,10.13,36.309
$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,35.975,8.825,69.000,0.000,0.000,24.550,18.915,242.305,0.000,0.000,19.317,411.097,0.000,111.708,874.372,217.618,0.000,341.305,0.000,347.558,0.000,0.543,0.000
$DEVICE_MAMPS,102.510,1269.135,1320.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.361,385.833,305.279,452.490,593.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,14363,142
$CAP_FILE_SIZE,29169,0
$CFSIZE,1024409600,958267392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180817,020205,6205.376,-17428.773,6,0.7,18,6.7,0.5,340.9,11,4.6