version: 66.13
glider: 401
mission: 22
dive: 1277
start: 8 18 117 14 21 30
data:
$ID,401
$MISSION,22
$DIVE,1277
$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,23
$R_STBD_OVSHOOT,48
$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
$GPS1,180817,140024,6200.0513,-17423.9805,7,0.8,7,6.8,0.7,309.1,9,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.2
$GPS2,180817,140024,6200.0513,-17423.9805,7,0.8,7,6.8,0.7,309.1,9,0.0
$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,157.0,6694,-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,-487.5,2405,1985,2340,4092,0.0,0.0,0,18,6.12,0.00,0.00,0.000,4097,0.024,0.000,1811,1986,2340,2340,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.30,52.55
$GC,22,-1.78,-487.5,1811,1986,2341,4094,0.1,0.0,1,35,0.17,0.00,-6.72,0.000,20486,0.057,0.000,1787,1986,3054,3054,4095,0,0,0,0,0,0,26.04,25.49,26.06,10.30,52.44
$GC,68,-1.78,-487.5,1786,1986,3055,4095,3.9,-12.1,8,73,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1986,3055,3055,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.45,52.32
$GC,106,-1.78,-487.5,1786,1986,3056,4094,10.4,-16.9,14,112,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1986,3056,3056,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.46,52.04
$GC,145,-1.78,-487.5,1786,1986,3057,4095,17.1,-17.2,20,152,0.00,1.20,0.00,0.000,516,0.000,0.050,1787,1521,3057,3057,4094,0,0,0,0,0,0,26.29,25.97,26.30,10.47,51.89
$GC,203,-1.78,-487.5,1786,1521,3059,4094,25.7,-12.2,29,210,0.00,0.98,0.00,0.000,1030,0.000,0.026,1787,1940,3058,3058,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.42,51.81
$GC,243,-1.78,-487.5,1786,1939,3060,4094,30.5,-11.9,35,249,0.00,1.10,0.00,0.000,260,0.000,0.046,1787,2358,3060,3060,4094,0,0,0,0,0,0,26.37,26.06,26.38,10.39,50.90
$GC,312,-1.78,-487.5,1786,2358,3061,4094,38.7,-12.0,46,319,0.00,1.00,0.00,0.000,1030,0.000,0.031,1786,1961,3061,3061,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.37,49.72
$GC,352,-1.78,-487.5,1786,1961,3062,4094,43.4,-12.1,52,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1961,3062,3062,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.35,48.97
$GC,391,-1.78,-487.5,1786,1961,3063,4095,47.9,-11.7,58,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1961,3063,3063,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.34,47.95
$GC,430,-1.78,-487.5,1786,1961,3064,4095,52.4,-11.8,64,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1961,3064,3064,4095,0,0,0,0,0,0,26.48,26.48,26.48,10.33,47.40
$GC,469,-1.78,-487.5,1786,1961,3065,4095,57.0,-12.1,70,475,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,1961,3065,3065,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.33,47.28
$STATE,492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,492,begin apogee
$GC,501,-0.45,0.0,1786,2133,3066,4095,60.3,-12.2,74,537,4.28,0.00,28.15,1.306,10244,0.054,0.000,2185,2134,2484,2484,4095,0,0,0,0,0,0,26.20,25.29,24.22,10.33,47.51
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,538,begin climb
$GC,542,1.78,487.5,2184,2133,2483,4095,62.9,0.0,80,584,7.55,0.00,27.90,1.278,11270,0.032,0.000,2892,2133,1915,1915,4094,0,0,0,0,0,0,25.58,25.73,23.82,10.20,46.96
$GC,617,1.78,487.5,2892,2133,1913,4094,56.8,12.2,92,624,0.00,1.15,0.00,0.000,516,0.000,0.045,2892,1711,1913,1913,4094,0,0,0,0,0,0,25.53,25.25,25.55,10.07,45.82
$GC,681,1.78,487.5,2892,1710,1911,4094,48.4,13.2,102,687,0.00,1.02,0.00,0.000,1030,0.000,0.030,2892,2122,1911,1911,4094,0,0,0,0,0,0,25.57,25.53,25.60,10.06,46.06
$GC,720,1.78,487.5,2892,2121,1911,4094,43.0,14.0,108,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2121,1911,1911,4094,0,0,0,0,0,0,25.88,25.90,25.89,10.05,46.18
$GC,759,1.78,487.5,2892,2121,1909,4094,37.8,13.1,114,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2122,1909,1909,4094,0,0,0,0,0,0,25.96,25.97,25.98,10.05,46.73
$GC,798,1.78,487.5,2892,2121,1908,4094,32.9,12.7,120,805,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1710,1908,1908,4094,0,0,0,0,0,0,26.03,25.72,26.04,10.05,47.12
$GC,868,1.78,487.5,2892,1709,1907,4094,25.1,10.9,131,874,0.00,1.02,0.00,0.000,1030,0.000,0.030,2893,2125,1907,1907,4094,0,0,0,0,0,0,25.91,25.86,25.94,10.05,47.32
$GC,907,1.78,487.5,2892,2125,1905,4094,20.5,11.4,137,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2125,1905,1905,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.06,48.30
$GC,947,2.09,695.3,2892,2125,1905,4094,17.6,7.5,143,965,0.95,0.00,11.90,0.753,10246,0.027,0.000,2990,2125,1672,1672,4095,0,0,0,0,0,0,26.02,25.57,24.76,10.10,49.25
$GC,999,2.26,808.5,2989,2125,1672,4095,13.1,8.9,151,1012,0.50,0.00,7.53,0.626,10246,0.036,0.000,3043,2125,1540,1540,4094,0,0,0,0,0,0,25.88,25.54,24.77,10.09,51.14
$GC,1045,2.31,842.4,3042,2125,1539,4094,8.4,10.0,158,1054,0.10,1.20,3.60,0.370,10500,0.076,0.051,3063,2571,1499,1499,4094,0,0,0,0,0,0,25.86,25.64,24.82,10.08,51.65
$STATE,1101,end climb,FINISH_DEPTH_REACHED
$STATE,1101,begin subsurface finish
$FINISH1,1.3,1.023780,127
$GC,1112,0.19,126.8,3063,2134,1497,4094,1.3,13.1,167,1131,6.85,0.00,-7.47,0.000,20486,0.023,0.000,2405,2127,2342,2342,4094,0,0,0,0,0,0,25.91,24.76,25.93,10.08,52.83
$FINISH2,0.2
$STATE,1132,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1132,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,124330
$TT8_MAMPS,0.026215,0.106358
$HUMID,53.07
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,2.50
$XPDR_PINGS,0
$24V_AH,23.82,35.865
$10V_AH,10.38,37.023
$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,26.525,11.950,79.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,437.126,253.129,168.136,247.027,86.167,0.000,358.733,0.000,255.344,0.000,0.541,0.000
$DEVICE_MAMPS,75.735,51.255,1305.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,14250,170
$CAP_FILE_SIZE,31738,0
$CFSIZE,1024409600,956743680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180817,140024,6200.051,-17423.980,7,0.8,7,6.8,0.7,309.1,9,0.0