version: 66.13
glider: 401
mission: 22
dive: 1259
start: 8 18 117 7 10 24
data:
$ID,401
$MISSION,22
$DIVE,1259
$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,36
$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
$GPS1,180817,064859,6203.2031,-17424.7090,5,0.8,18,6.8,0.0,112.2,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.0
$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,-487.5,2335,1943,2487,4091,0.0,0.0,0,17,5.65,0.00,-0.38,0.000,20482,0.022,0.000,1788,1943,2526,2526,4095,0,0,0,0,0,0,26.08,28.83,26.13,10.33,52.08
$GC,22,-1.78,-487.5,1788,1943,2526,4095,0.1,0.0,1,29,0.00,0.00,-4.97,0.000,16902,0.000,0.000,1788,1944,3059,3059,4095,0,0,0,0,0,0,26.30,24.92,26.32,10.34,52.20
$GC,62,-1.78,-487.5,1787,1943,3060,4095,3.8,-12.5,7,68,0.00,1.05,0.00,0.000,516,0.000,0.051,1788,1531,3060,3060,4094,0,0,0,0,0,0,26.34,26.02,26.35,10.45,52.40
$GC,113,-1.78,-487.5,1787,1530,3062,4094,13.1,-18.4,15,120,0.00,1.02,0.00,0.000,1030,0.000,0.029,1787,1954,3062,3062,4095,0,0,0,0,0,0,26.16,26.13,26.17,10.46,52.20
$GC,153,-1.78,-487.5,1787,1954,3063,4095,20.2,-17.6,21,160,0.00,1.12,0.00,0.000,260,0.000,0.050,1787,2379,3063,3063,4095,0,0,0,0,0,0,26.39,26.07,26.41,10.45,51.73
$GC,253,-1.78,-487.5,1787,2379,3065,4095,33.2,-11.5,37,259,0.00,0.98,0.00,0.000,1030,0.000,0.029,1787,1990,3066,3066,4094,0,0,0,0,0,0,26.23,26.21,26.25,10.38,50.27
$GC,292,-1.78,-487.5,1787,1991,3066,4094,37.8,-12.4,43,299,0.00,1.20,0.00,0.000,516,0.000,0.053,1787,1520,3066,3066,4095,0,0,0,0,0,0,26.48,26.14,26.48,10.36,49.68
$GC,350,-1.78,-487.5,1787,1520,3068,4095,45.0,-12.6,52,357,0.00,1.10,0.00,0.000,1030,0.000,0.027,1788,1984,3068,3068,4095,0,0,0,0,0,0,26.28,26.25,26.30,10.35,47.95
$GC,390,-1.78,-487.5,1787,1984,3068,4095,50.0,-12.5,58,396,0.00,1.00,0.00,0.000,260,0.000,0.044,1787,2371,3068,3068,4095,0,0,0,0,0,0,26.51,26.20,26.53,10.33,47.79
$GC,447,-1.78,-487.5,1787,2371,3070,4095,57.2,-12.5,67,454,0.00,0.98,0.00,0.000,1030,0.000,0.029,1787,1980,3070,3070,4094,0,0,0,0,0,0,26.32,26.29,26.34,10.32,47.44
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,480,-0.45,0.0,1787,2142,3070,4094,60.6,-12.4,71,516,4.28,0.00,28.38,1.319,10244,0.054,0.000,2186,2142,2483,2483,4094,0,0,0,0,0,0,26.24,25.32,24.25,10.32,47.79
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,521,1.78,487.5,2186,2142,2484,4094,63.4,0.0,77,562,7.55,0.00,28.08,1.287,11270,0.032,0.000,2891,2142,1915,1915,4094,0,0,0,0,0,0,25.59,25.75,23.82,10.19,47.44
$GC,596,1.78,487.5,2891,2142,1915,4094,57.2,12.1,89,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2142,1914,1914,4094,0,0,0,0,0,0,25.54,25.55,25.55,10.07,46.06
$GC,634,1.78,487.5,2890,2142,1913,4094,52.1,13.4,95,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2142,1913,1913,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.06,46.29
$GC,673,1.78,487.5,2890,2142,1912,4094,46.8,14.0,101,680,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1712,1912,1912,4094,0,0,0,0,0,0,25.82,25.53,25.84,10.06,45.98
$GC,755,1.78,487.5,2891,1712,1910,4094,35.9,13.4,114,761,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2125,1910,1910,4094,0,0,0,0,0,0,25.77,25.74,25.79,10.05,47.24
$GC,795,1.78,487.5,2891,2125,1908,4094,30.6,13.4,120,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1908,1908,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.04,47.28
$GC,834,1.78,487.5,2891,2124,1907,4094,25.5,12.9,126,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1907,1907,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.04,47.79
$GC,872,1.78,487.5,2892,2124,1906,4094,20.7,12.3,132,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1906,1906,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.04,47.79
$GC,912,2.05,666.1,2890,2124,1905,4094,17.3,7.9,138,930,0.85,0.00,10.38,0.743,10246,0.028,0.000,2981,2125,1708,1708,4094,0,0,0,0,0,0,26.01,25.34,24.79,10.10,49.44
$GC,963,2.15,735.6,2981,2124,1706,4094,12.7,9.5,146,976,0.22,0.00,5.47,0.547,10246,0.050,0.000,3007,2125,1625,1625,4094,0,0,0,0,0,0,25.86,25.34,24.80,10.08,50.47
$GC,1010,2.17,750.4,3007,2125,1624,4094,8.2,10.3,153,1017,0.00,1.10,2.55,0.194,8708,0.000,0.047,3007,1710,1609,1609,4094,0,0,0,0,0,0,26.10,25.69,24.87,10.08,51.57
$GC,1069,2.22,784.5,3007,1709,1607,4094,2.3,10.0,162,1077,0.20,1.00,3.53,0.330,11270,0.038,0.026,3033,2136,1568,1568,4094,0,0,0,0,0,0,25.94,25.95,24.98,10.09,52.52
$STATE,1082,end climb,FINISH_DEPTH_REACHED
$STATE,1082,begin subsurface finish
$FINISH1,0.6,1.023754,129
$GC,1091,0.19,128.7,3033,2136,1568,4094,0.6,9.5,164,1111,6.55,1.17,-6.90,0.000,20740,0.024,1.279,2404,2546,2340,2340,4095,0,0,0,0,0,0,25.96,24.48,25.98,10.09,52.48
$FINISH2,0.1
$STATE,1112,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1112,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,052954
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.81
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.82,35.336
$10V_AH,10.38,36.601
$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,25.300,14.750,78.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,435.196,251.923,160.647,242.655,82.065,0.000,346.344,0.000,251.240,0.000,0.541,0.000
$DEVICE_MAMPS,54.315,1279.080,1318.860,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.713,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330808
$DATA_FILE_SIZE,10772,167
$CAP_FILE_SIZE,31559,0
$CFSIZE,1024409600,957628416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180817,064859,6203.203,-17424.709,5,0.8,18,6.8,0.0,112.2,11,5.0