version: 66.13
glider: 401
mission: 22
dive: 1285
start: 8 18 117 17 44 36
data:
$ID,401
$MISSION,22
$DIVE,1285
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,180817,173549,6159.1372,-17421.2734,8,0.8,35,6.8,0.0,275.8,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-42.1
$GPS2,180817,174400,6159.1211,-17421.2715,5,0.8,16,6.8,0.0,181.2,11,4.5
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W15S
$TGT_LATLONG,6143.620,-17351.301
$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,130.7,38928,-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,-487.5,236,1944,1758,4092,0.0,0.0,0,18,6.72,0.00,0.00,0.000,2049,0.104,0.000,794,1945,1758,1758,4094,0,0,0,0,0,0,26.19,28.83,28.83,10.21,51.10
$GC,22,-1.78,-487.5,793,1944,1758,4094,0.9,0.0,1,52,10.65,1.23,-12.10,0.000,18692,0.055,1.259,1764,2394,3055,3055,4094,0,0,0,0,0,0,25.91,24.44,25.98,10.21,51.18
$GC,255,-1.78,-487.5,1763,2394,3061,4094,33.4,-13.1,39,261,0.00,1.10,0.00,0.000,1030,0.000,0.029,1764,1952,3061,3061,4094,0,0,0,0,0,0,26.07,26.03,26.10,10.41,49.25
$GC,294,-1.78,-487.5,1763,1952,3062,4094,38.6,-12.8,45,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3062,3062,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.39,48.74
$GC,333,-1.78,-487.5,1763,1952,3063,4094,43.5,-12.9,51,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3063,3063,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.38,47.28
$GC,372,-1.78,-487.5,1763,1952,3064,4095,48.5,-12.8,57,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3064,3064,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.37,46.69
$GC,411,-1.78,-487.5,1763,1952,3064,4095,53.7,-13.0,63,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3065,3065,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.37,45.98
$GC,450,-1.78,-487.5,1763,1952,3066,4095,58.8,-13.1,69,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3066,3066,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.35,45.98
$STATE,461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,470,-0.45,0.0,1764,2149,3067,4094,60.7,-13.6,71,506,4.55,0.00,28.30,1.315,10244,0.054,0.000,2184,2149,2484,2484,4094,0,0,0,0,0,0,26.14,25.24,24.16,10.34,45.94
$STATE,507,end apogee,CONTROL_FINISHED_OK
$STATE,507,begin climb
$GC,510,1.78,487.5,2184,2149,2484,4094,63.7,0.0,77,552,7.57,0.00,28.05,1.289,11270,0.032,0.000,2892,2149,1915,1915,4094,0,0,0,0,0,0,25.53,25.67,23.77,10.22,45.55
$GC,585,1.78,487.5,2891,2149,1915,4094,57.5,12.3,89,592,0.00,1.17,0.00,0.000,516,0.000,0.044,2892,1715,1915,1915,4094,0,0,0,0,0,0,25.51,25.24,25.53,10.09,44.92
$GC,649,1.78,487.5,2891,1715,1913,4094,49.1,13.0,99,655,0.00,1.02,0.00,0.000,1030,0.000,0.029,2892,2127,1913,1913,4094,0,0,0,0,0,0,25.56,25.52,25.57,10.08,44.80
$GC,689,1.78,487.5,2891,2126,1912,4094,44.0,13.3,105,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1911,1911,4094,0,0,0,0,0,0,25.87,25.89,25.88,10.08,45.39
$GC,728,1.78,487.5,2892,2127,1911,4094,38.8,13.5,111,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1910,1910,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.07,45.78
$GC,766,1.78,487.5,2891,2127,1909,4094,33.9,13.0,117,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2127,1909,1909,4095,0,0,0,0,0,0,26.02,26.03,26.03,10.07,46.14
$GC,805,1.78,487.5,2891,2127,1908,4095,29.0,12.6,123,812,0.00,1.10,0.00,0.000,516,0.000,0.045,2892,1712,1908,1908,4094,0,0,0,0,0,0,26.08,25.77,26.10,10.07,46.02
$GC,905,2.04,659.4,2891,1712,1906,4094,19.2,8.0,139,924,0.77,1.02,9.93,0.738,11270,0.026,0.028,2979,2133,1719,1719,4094,0,0,0,0,0,0,25.98,25.95,24.76,10.13,48.74
$GC,958,2.04,659.4,2978,2132,1718,4094,13.7,11.2,147,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2132,1718,1718,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.12,50.66
$GC,997,2.04,659.4,2978,2132,1717,4094,9.3,11.7,153,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2133,1717,1717,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.13,51.14
$GC,1036,2.04,659.4,2978,2132,1716,4094,4.8,11.8,159,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2133,1716,1716,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,51.45
$STATE,1059,end climb,FINISH_DEPTH_REACHED
$STATE,1059,begin subsurface finish
$FINISH1,1.6,1.023773,127
$GC,1068,0.19,127.3,2979,2132,1715,4094,1.6,11.9,163,1087,6.03,0.00,-5.45,0.000,20998,0.031,0.000,2403,2132,2338,2338,4094,0,0,0,0,0,0,26.03,25.46,26.05,10.15,52.67
$FINISH2,0.3
$STATE,1088,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1088,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,162725
$TT8_MAMPS,0.026215,0.170772
$HUMID,52.71
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.77,36.118
$10V_AH,10.27,37.216
$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,36.300,7.150,66.275,0.000,0.000,22.908,17.115,248.998,0.000,0.000,17.855,425.263,252.932,161.320,517.569,235.532,0.000,347.156,0.000,251.435,0.000,0.541,0.000
$DEVICE_MAMPS,104.040,1259.190,1315.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,110.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329356
$DATA_FILE_SIZE,10884,166
$CAP_FILE_SIZE,31595,0
$CFSIZE,1024409600,956350464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180817,174400,6159.121,-17421.271,5,0.8,16,6.8,0.0,181.2,11,4.5