version: 66.13
glider: 401
mission: 22
dive: 1258
start: 8 18 117 6 49 35
data:
$ID,401
$MISSION,22
$DIVE,1258
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,180817,064105,6203.2427,-17424.7910,8,0.8,14,6.8,0.4,109.0,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-43.6
$GPS2,180817,064859,6203.2031,-17424.7090,5,0.8,18,6.8,0.0,112.2,11,5.0
$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,161.7,12518,-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,-487.5,238,1939,1790,4092,0.0,0.0,0,21,9.70,0.00,0.00,0.000,2049,0.106,0.000,1040,1940,1790,1790,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.22,51.65
$GC,25,-1.78,-487.5,1039,1939,1790,4094,1.0,0.0,1,52,7.78,1.23,-12.02,0.000,18692,0.046,1.263,1760,2381,3055,3055,4094,0,0,0,0,0,0,25.89,24.46,25.94,10.22,52.08
$GC,170,-1.78,-487.5,1759,2381,3059,4094,19.1,-19.2,21,180,0.00,1.05,0.00,0.000,1030,0.000,0.027,1760,1966,3059,3059,4094,0,0,0,0,0,0,26.05,26.00,26.04,10.50,50.74
$GC,217,-1.78,-487.5,1759,1966,3060,4094,26.9,-13.8,27,227,0.00,1.15,0.00,0.000,516,0.000,0.049,1760,1514,3060,3060,4094,0,0,0,0,0,0,26.28,25.97,26.29,10.44,50.03
$GC,277,-1.78,-487.5,1759,1513,3061,4094,34.7,-12.9,35,287,0.00,1.02,0.00,0.000,1030,0.000,0.026,1760,1949,3062,3062,4094,0,0,0,0,0,0,26.13,26.10,26.16,10.39,49.29
$GC,326,-1.78,-487.5,1759,1949,3062,4094,40.9,-13.1,41,335,0.00,1.10,0.00,0.000,260,0.000,0.047,1761,2371,3062,3062,4094,0,0,0,0,0,0,26.37,26.06,26.38,10.38,47.67
$GC,412,-1.78,-487.5,1759,2371,3065,4094,52.7,-13.8,53,421,0.00,1.05,0.00,0.000,1030,0.000,0.029,1760,1949,3065,3065,4095,0,0,0,0,0,0,26.17,26.15,26.21,10.36,46.65
$GC,459,-1.78,-487.5,1760,1949,3066,4095,59.1,-13.8,59,467,0.00,1.08,0.00,0.000,516,0.000,0.050,1760,1523,3066,3066,4095,0,0,0,0,0,0,26.44,26.13,26.46,10.35,46.22
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,486,-0.45,0.0,1760,2126,3067,4094,61.9,-14.0,61,529,4.60,0.00,28.42,1.334,10244,0.057,0.000,2185,2127,2483,2483,4094,0,0,0,0,0,0,26.15,24.94,24.17,10.35,45.39
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,534,1.78,487.5,2185,2126,2484,4094,65.7,0.0,66,578,7.57,0.00,28.25,1.311,11270,0.031,0.000,2892,2127,1915,1915,4094,0,0,0,0,0,0,25.55,25.70,23.76,10.21,44.92
$GC,617,1.78,487.5,2893,2126,1914,4094,59.2,12.3,76,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2127,1913,1913,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.09,44.76
$GC,664,1.78,487.5,2892,2126,1913,4094,53.0,13.4,82,673,0.00,1.10,0.00,0.000,516,0.000,0.045,2893,1718,1912,1912,4095,0,0,0,0,0,0,25.74,25.44,25.75,10.08,44.92
$GC,756,1.78,487.5,2892,1718,1910,4095,40.6,13.4,95,765,0.00,1.02,0.00,0.000,1030,0.000,0.028,2893,2135,1910,1910,4094,0,0,0,0,0,0,25.70,25.70,25.76,10.06,45.07
$GC,804,1.78,487.5,2893,2134,1908,4094,34.3,13.7,101,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1908,1908,4094,0,0,0,0,0,0,26.03,26.06,26.05,10.06,45.39
$GC,852,1.78,487.5,2892,2134,1907,4094,28.0,13.2,107,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1907,1907,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.05,45.74
$GC,899,1.78,487.5,2892,2134,1905,4094,22.3,11.6,113,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2134,1905,1905,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.07,46.88
$GC,947,1.94,597.0,2892,2134,1904,4094,17.7,8.9,119,965,0.47,1.10,7.00,0.656,10756,0.036,0.047,2945,1712,1786,1786,4094,0,0,0,0,0,0,26.00,25.71,24.82,10.12,48.30
$GC,1048,1.94,597.0,2944,1711,1784,4094,7.3,10.6,133,1058,0.00,1.02,0.00,0.000,1030,0.000,0.031,2945,2130,1784,1784,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.14,51.73
$GC,1096,1.94,597.0,2944,2130,1783,4094,2.3,10.7,139,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2131,1782,1782,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.15,51.53
$STATE,1113,end climb,FINISH_DEPTH_REACHED
$STATE,1113,begin subsurface finish
$FINISH1,0.0,1.002120,0
$GC,1122,0.00,0.0,2945,2130,1782,4094,0.0,10.7,141,1141,6.22,0.00,-6.47,0.000,20486,0.023,0.000,2335,2130,2487,2487,4094,0,0,0,0,0,0,26.10,25.47,26.13,10.15,52.08
$FINISH2,0.1
$STATE,1142,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1142,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,052954
$TT8_MAMPS,0.025466,0.244923
$HUMID,52.12
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.76,35.312
$10V_AH,10.12,36.591
$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,36.350,13.450,63.675,0.000,0.000,22.169,19.897,239.033,0.000,0.000,20.163,405.234,0.000,131.676,866.422,227.813,0.000,379.205,0.000,349.710,0.000,0.543,0.000
$DEVICE_MAMPS,106.335,1263.015,1334.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.519,388.568,307.511,455.483,592.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329392
$DATA_FILE_SIZE,14313,143
$CAP_FILE_SIZE,31316,0
$CFSIZE,1024409600,957677568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180817,064859,6203.203,-17424.709,5,0.8,18,6.8,0.0,112.2,11,5.0