version: 66.13
glider: 401
mission: 22
dive: 1247
start: 8 18 117 2 23 7
data:
$ID,401
$MISSION,22
$DIVE,1247
$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,52
$R_STBD_OVSHOOT,50
$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
$GPS1,180817,020205,6205.3765,-17428.7734,6,0.7,18,6.7,0.5,340.9,11,4.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-1.3
$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,5,begin dive
$GC,9,-1.78,-487.5,2402,1980,2335,4092,0.0,0.0,0,17,6.03,0.00,0.00,0.000,4097,0.023,0.000,1818,1982,2335,2335,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.30,52.67
$GC,21,-1.78,-487.5,1818,1981,2334,4094,0.0,0.0,1,34,0.25,1.00,-6.62,0.000,20740,0.043,1.258,1785,2356,3054,3054,4095,0,0,0,0,0,0,26.06,24.59,26.07,10.30,52.44
$GC,61,-1.78,-487.5,1785,2355,3055,4095,3.9,-12.4,7,68,0.00,0.98,0.00,0.000,1030,0.000,0.031,1785,1970,3055,3055,4094,0,0,0,0,0,0,25.96,25.94,25.99,10.46,52.75
$GC,102,-1.78,-487.5,1785,1969,3056,4094,10.8,-17.7,13,108,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1970,3056,3056,4095,0,0,0,0,0,0,26.25,26.27,26.27,10.45,51.96
$GC,141,-1.78,-487.5,1785,1970,3057,4095,17.9,-18.6,19,147,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1970,3058,3058,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.46,51.89
$GC,180,-1.78,-487.5,1785,1970,3058,4095,24.2,-14.8,25,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1970,3059,3059,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.43,52.28
$GC,219,-1.78,-487.5,1785,1970,3059,4094,29.2,-12.7,31,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1785,1970,3060,3060,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.39,51.49
$GC,258,-1.78,-487.5,1785,1969,3060,4094,33.8,-11.5,37,264,0.00,1.12,0.00,0.000,516,0.000,0.050,1785,1527,3061,3061,4094,0,0,0,0,0,0,26.38,26.06,26.39,10.38,50.19
$GC,327,-1.78,-487.5,1785,1526,3062,4094,42.6,-12.8,48,334,0.00,0.95,0.00,0.000,1030,0.000,0.027,1785,1936,3062,3062,4094,0,0,0,0,0,0,26.21,26.19,26.23,10.34,48.85
$GC,367,-1.78,-487.5,1784,1936,3063,4094,47.6,-12.2,54,374,0.00,1.12,0.00,0.000,260,0.000,0.045,1786,2367,3063,3063,4094,0,0,0,0,0,0,26.44,26.13,26.45,10.34,47.99
$GC,431,-1.78,-487.5,1785,2366,3064,4094,55.5,-12.5,64,437,0.00,1.02,0.00,0.000,1030,0.000,0.031,1785,1956,3065,3065,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.33,47.79
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,476,-0.45,0.0,1785,2137,3066,4095,60.5,-12.5,70,512,4.30,0.00,28.20,1.310,10244,0.055,0.000,2185,2137,2484,2484,4094,0,0,0,0,0,0,26.18,25.28,24.22,10.32,47.32
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,517,1.78,487.5,2184,2136,2484,4094,63.3,0.0,76,558,7.55,0.00,27.85,1.281,11270,0.032,0.000,2891,2137,1916,1916,4094,0,0,0,0,0,0,25.56,25.71,23.81,10.20,47.00
$GC,591,1.78,487.5,2890,2137,1915,4094,57.0,12.9,88,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2137,1915,1915,4095,0,0,0,0,0,0,25.53,25.54,25.53,10.07,46.10
$GC,630,1.78,487.5,2890,2137,1914,4095,52.0,12.5,94,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2137,1914,1914,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.06,46.25
$GC,669,1.78,487.5,2890,2137,1913,4094,47.1,12.8,100,675,0.00,1.12,0.00,0.000,516,0.000,0.045,2891,1717,1913,1913,4094,0,0,0,0,0,0,25.82,25.52,25.83,10.06,45.94
$GC,756,1.78,487.5,2891,1717,1910,4094,35.7,13.0,114,763,0.00,1.05,0.00,0.000,1030,0.000,0.030,2891,2141,1910,1910,4094,0,0,0,0,0,0,25.78,25.75,25.80,10.05,46.65
$GC,796,1.78,487.5,2891,2140,1909,4094,30.7,12.6,120,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2140,1909,1909,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.04,47.12
$GC,835,1.78,487.5,2891,2140,1907,4094,25.7,12.4,126,842,0.00,1.12,0.00,0.000,516,0.000,0.046,2891,1712,1907,1907,4094,0,0,0,0,0,0,26.12,25.81,26.13,10.04,47.36
$GC,935,2.00,637.7,2891,1712,1906,4094,15.6,8.3,142,949,0.65,1.02,8.98,0.690,11270,0.028,0.029,2970,2132,1740,1740,4094,0,0,0,0,0,0,26.01,25.98,24.84,10.11,49.88
$GC,982,2.00,637.7,2969,2132,1739,4094,10.8,10.8,149,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2132,1739,1739,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.10,51.14
$GC,1021,2.00,637.7,2969,2132,1738,4094,6.5,11.4,155,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2132,1738,1738,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.10,51.85
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1057,begin subsurface finish
$FINISH1,2.0,1.023775,127
$GC,1066,0.19,127.3,2969,2132,1736,4094,2.0,11.5,161,1085,6.07,1.15,-5.18,0.000,20996,0.047,1.270,2399,1716,2342,2342,4095,0,0,0,0,0,0,26.03,24.56,26.04,10.12,52.59
$FINISH2,0.6
$STATE,1086,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1087,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,004608
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.13
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.81,34.987
$10V_AH,10.38,36.319
$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,24.850,12.650,65.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,426.026,249.618,151.645,238.497,80.969,0.000,332.218,0.000,246.945,0.000,0.541,0.000
$DEVICE_MAMPS,55.080,1269.900,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,10822,164
$CAP_FILE_SIZE,29628,0
$CFSIZE,1024409600,958218240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,67.15,0x2138dc,0,24
$GPS,180817,020205,6205.376,-17428.773,6,0.7,18,6.7,0.5,340.9,11,4.6