version: 66.13
glider: 401
mission: 22
dive: 1286
start: 8 18 117 18 4 30
data:
$ID,401
$MISSION,22
$DIVE,1286
$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,27
$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
$GPS1,180817,174400,6159.1211,-17421.2715,5,0.8,16,6.8,0.0,181.2,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-3.1
$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,-487.5,2402,1948,2339,4092,0.0,0.0,0,21,6.47,0.00,-3.03,0.000,20482,0.020,0.000,1771,1948,2661,2661,4094,0,0,0,0,0,0,26.04,28.83,26.08,10.29,53.11
$GC,25,-1.78,-487.5,1771,1948,2661,4094,0.1,0.0,1,35,0.00,1.20,-3.38,0.000,16644,0.000,1.260,1771,2380,3057,3057,4095,0,0,0,0,0,0,26.25,24.56,26.26,10.37,52.95
$GC,66,-1.78,-487.5,1770,2380,3058,4095,4.8,-13.6,6,76,0.00,1.10,0.00,0.000,1030,0.000,0.031,1771,1945,3058,3058,4095,0,0,0,0,0,0,25.95,25.90,25.98,10.46,53.03
$GC,113,-1.78,-487.5,1771,1945,3060,4095,13.6,-19.2,12,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3060,3060,4095,0,0,0,0,0,0,26.25,26.26,26.25,10.45,52.67
$GC,161,-1.78,-487.5,1770,1944,3061,4095,22.1,-18.2,18,170,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3061,3061,4095,0,0,0,0,0,0,26.29,26.30,26.30,10.44,52.32
$GC,209,-1.78,-487.5,1770,1945,3062,4095,28.8,-13.1,24,217,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3063,3063,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.39,52.04
$GC,256,-1.78,-487.5,1770,1945,3063,4094,34.9,-12.8,30,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3064,3064,4095,0,0,0,0,0,0,26.36,26.37,26.38,10.38,50.63
$GC,303,-1.78,-487.5,1770,1945,3064,4095,40.9,-12.5,36,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3065,3065,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.36,49.25
$GC,351,-1.78,-487.5,1770,1945,3066,4095,46.9,-12.9,42,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3066,3066,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.34,48.62
$GC,397,-1.78,-487.5,1770,1944,3067,4095,53.1,-13.3,48,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1945,3067,3067,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.33,47.44
$GC,445,-1.78,-487.5,1770,1945,3068,4094,59.4,-13.5,54,454,0.00,1.15,0.00,0.000,260,0.000,0.044,1771,2373,3068,3068,4094,0,0,0,0,0,0,26.48,26.15,26.48,10.33,47.04
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,471,-0.45,0.0,1771,2117,3069,4095,62.4,-13.1,56,507,4.47,0.00,28.50,1.340,10244,0.055,0.000,2184,2116,2484,2484,4095,0,0,0,0,0,0,26.17,25.25,24.18,10.32,47.28
$STATE,508,end apogee,CONTROL_FINISHED_OK
$STATE,508,begin climb
$GC,512,1.78,487.5,2184,2116,2484,4095,65.6,0.0,60,556,7.60,0.00,28.02,1.309,11270,0.032,0.000,2891,2116,1918,1918,4094,0,0,0,0,0,0,25.53,25.68,23.78,10.20,46.73
$GC,595,1.78,487.5,2890,2116,1917,4094,59.2,12.2,70,605,0.00,1.00,0.00,0.000,516,0.000,0.044,2891,1733,1917,1917,4094,0,0,0,0,0,0,25.56,25.28,25.57,10.07,46.14
$GC,681,1.78,487.5,2891,1733,1915,4094,48.0,12.8,82,691,0.00,1.00,0.00,0.000,1030,0.000,0.030,2891,2134,1914,1914,4094,0,0,0,0,0,0,25.63,25.58,25.65,10.06,46.61
$GC,729,1.78,487.5,2891,2134,1913,4094,41.9,13.0,88,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2134,1913,1913,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.06,46.06
$GC,775,1.78,487.5,2891,2134,1912,4094,35.9,13.0,94,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2134,1911,1911,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.05,46.33
$GC,821,1.78,487.5,2890,2134,1911,4094,30.0,12.8,100,831,0.00,1.05,0.00,0.000,516,0.000,0.044,2891,1736,1910,1910,4094,0,0,0,0,0,0,26.10,25.79,26.11,10.04,46.73
$GC,1087,1.96,607.8,2891,1736,1905,4094,6.6,8.8,139,1105,0.52,0.95,7.30,0.577,11270,0.031,0.028,2949,2136,1777,1777,4094,0,0,0,0,0,0,26.14,26.11,25.05,10.16,52.20
$STATE,1141,end climb,FINISH_DEPTH_REACHED
$STATE,1141,begin subsurface finish
$FINISH1,1.5,1.023759,128
$GC,1151,0.19,128.3,2948,2135,1775,4094,1.5,9.4,146,1169,5.65,1.10,-5.10,0.000,20996,0.025,1.273,2405,1729,2336,2336,4094,0,0,0,0,0,0,26.08,24.60,26.13,10.15,52.44
$FINISH2,0.2
$STATE,1170,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1170,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,162725
$TT8_MAMPS,0.026215,0.258405
$HUMID,53.18
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.60
$XPDR_PINGS,0
$24V_AH,23.78,36.141
$10V_AH,10.14,37.249
$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,24.725,9.625,63.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,412.875,0.000,118.383,617.286,81.711,0.000,353.366,0.000,360.378,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1272.960,1339.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.378,402.079,318.200,471.995,614.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,14326,148
$CAP_FILE_SIZE,26134,0
$CFSIZE,1024409600,956301312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180817,174400,6159.121,-17421.271,5,0.8,16,6.8,0.0,181.2,11,4.5