version: 66.13
glider: 401
mission: 22
dive: 1289
start: 8 18 117 19 18 2
data:
$ID,401
$MISSION,22
$DIVE,1289
$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,31
$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
$GPS1,180817,185530,6158.5435,-17420.8184,6,1.0,18,6.8,0.2,0.0,9,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.5
$GPS2,180817,185530,6158.5435,-17420.8184,6,1.0,18,6.8,0.2,0.0,9,4.7
$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,130.1,37873,-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,-487.5,2405,1965,2340,4092,0.0,0.0,0,18,6.07,0.00,0.00,0.000,4097,0.021,0.000,1812,1965,2340,2340,4095,0,0,0,0,0,0,26.30,28.83,28.83,10.30,52.52
$GC,22,-1.78,-487.5,1812,1965,2340,4095,0.1,0.0,1,35,0.17,1.12,-6.50,0.000,20740,0.050,1.260,1784,2379,3054,3054,4094,0,0,0,0,0,0,26.10,24.58,26.11,10.30,52.16
$GC,86,-1.78,-487.5,1783,2380,3055,4094,7.8,-16.3,11,93,0.00,1.08,0.00,0.000,1030,0.000,0.031,1785,1951,3056,3056,4095,0,0,0,0,0,0,26.02,25.98,26.03,10.45,52.40
$GC,126,-1.78,-487.5,1784,1951,3057,4095,14.9,-17.8,17,133,0.00,1.08,0.00,0.000,516,0.000,0.050,1784,1523,3057,3057,4095,0,0,0,0,0,0,26.29,25.97,26.31,10.46,52.59
$GC,178,-1.78,-487.5,1784,1522,3059,4095,24.0,-16.9,25,184,0.00,1.00,0.00,0.000,1030,0.000,0.027,1784,1948,3059,3059,4095,0,0,0,0,0,0,26.13,26.10,26.14,10.46,51.85
$GC,218,-1.78,-487.5,1783,1948,3059,4095,29.2,-12.6,31,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1948,3059,3059,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.40,51.26
$GC,257,-1.78,-487.5,1784,1948,3061,4095,34.0,-12.0,37,263,0.00,1.12,0.00,0.000,260,0.000,0.045,1784,2376,3061,3061,4095,0,0,0,0,0,0,26.39,26.08,26.40,10.38,50.47
$GC,308,-1.78,-487.5,1783,2376,3062,4095,39.9,-11.3,45,315,0.00,1.08,0.00,0.000,1030,0.000,0.031,1784,1945,3062,3062,4095,0,0,0,0,0,0,26.18,26.14,26.20,10.37,49.80
$GC,348,-1.78,-487.5,1783,1945,3063,4095,44.6,-11.9,51,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1945,3063,3063,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.35,48.38
$GC,387,-1.78,-487.5,1784,1945,3063,4094,49.3,-12.0,57,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1945,3064,3064,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.34,47.51
$GC,426,-1.78,-487.5,1784,1945,3064,4094,54.2,-12.5,63,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1945,3064,3064,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.34,47.24
$GC,465,-1.78,-487.5,1784,1945,3066,4095,59.1,-12.5,69,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,1946,3066,3066,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.33,47.79
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,484,-0.45,0.0,1784,2144,3066,4095,61.0,-13.1,71,520,4.32,0.00,28.23,1.320,10244,0.054,0.000,2184,2144,2483,2483,4094,0,0,0,0,0,0,26.20,25.29,24.22,10.33,46.92
$STATE,521,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,525,1.78,487.5,2185,2144,2483,4094,63.7,0.0,77,567,7.57,0.00,27.83,1.290,11270,0.031,0.000,2892,2144,1919,1919,4094,0,0,0,0,0,0,25.57,25.72,23.82,10.20,46.37
$GC,600,1.78,487.5,2891,2144,1918,4094,57.7,12.1,89,607,0.00,1.15,0.00,0.000,516,0.000,0.044,2892,1715,1918,1918,4094,0,0,0,0,0,0,25.53,25.25,25.54,10.08,45.74
$GC,664,1.78,487.5,2892,1715,1916,4094,49.5,12.7,99,670,0.00,1.02,0.00,0.000,1030,0.000,0.029,2893,2125,1916,1916,4094,0,0,0,0,0,0,25.56,25.53,25.59,10.06,45.98
$GC,703,1.78,487.5,2892,2125,1915,4094,44.5,12.9,105,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1915,1915,4094,0,0,0,0,0,0,25.89,25.89,25.89,10.06,46.22
$GC,742,1.78,487.5,2892,2125,1914,4094,39.6,12.5,111,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.06,46.29
$GC,781,1.78,487.5,2892,2125,1912,4094,34.8,12.7,117,788,0.00,1.08,0.00,0.000,516,0.000,0.044,2892,1720,1912,1912,4094,0,0,0,0,0,0,26.03,25.73,26.04,10.06,46.77
$GC,827,1.78,487.5,2891,1719,1911,4094,29.3,11.5,124,833,0.00,1.00,0.00,0.000,1030,0.000,0.031,2892,2125,1911,1911,4095,0,0,0,0,0,0,25.86,25.84,25.91,10.05,47.79
$GC,867,1.78,487.5,2892,2125,1910,4095,24.6,11.6,130,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2125,1910,1910,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.05,47.40
$GC,906,1.93,592.1,2892,2125,1909,4094,20.7,9.0,136,919,0.43,0.00,6.93,0.679,10246,0.035,0.000,2940,2125,1793,1793,4094,0,0,0,0,0,0,25.98,25.62,24.77,10.09,48.70
$GC,952,2.06,677.5,2940,2125,1793,4094,16.6,9.3,143,966,0.38,1.02,6.22,0.611,10756,0.034,0.044,2986,1716,1692,1692,4094,0,0,0,0,0,0,25.95,25.36,24.78,10.11,50.03
$GC,1035,2.06,677.5,2985,1716,1689,4094,7.5,11.4,156,1042,0.00,0.98,0.00,0.000,1030,0.000,0.030,2986,2114,1689,1689,4094,0,0,0,0,0,0,25.95,25.91,25.97,10.11,52.71
$GC,1075,2.06,677.5,2985,2113,1688,4094,2.9,11.7,162,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2114,1688,1688,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.12,52.24
$STATE,1085,end climb,FINISH_DEPTH_REACHED
$STATE,1086,begin subsurface finish
$FINISH1,1.1,1.023762,128
$GC,1095,0.19,128.1,2986,2113,1688,4094,1.1,12.2,164,1114,6.00,0.00,-5.82,0.000,20486,0.022,0.000,2405,2114,2341,2341,4094,0,0,0,0,0,0,26.01,25.46,26.03,10.13,52.55
$FINISH2,0.2
$STATE,1115,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1115,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,180817,173847
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.78
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.70
$XPDR_PINGS,0
$24V_AH,23.82,36.230
$10V_AH,10.38,37.311
$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,24.950,13.650,69.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,431.877,243.310,166.148,243.361,89.415,0.000,356.191,0.000,251.323,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1259.955,1320.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,111.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,10870,167
$CAP_FILE_SIZE,32058,0
$CFSIZE,1024409600,956153856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180817,185530,6158.543,-17420.818,6,1.0,18,6.8,0.2,0.0,9,4.7