version: 66.13
glider: 401
mission: 22
dive: 1325
start: 8 19 117 9 39 6
data:
$ID,401
$MISSION,22
$DIVE,1325
$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,22
$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
$GPS1,190817,091741,6155.6182,-17410.6523,5,0.8,16,6.9,0.5,169.2,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.6
$GPS2,190817,091741,6155.6182,-17410.6523,5,0.8,16,6.9,0.5,169.2,9,4.6
$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,135.7,27963,-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,-487.5,2402,1949,2342,4092,0.0,0.0,0,18,6.30,0.00,0.00,0.000,4097,0.022,0.000,1793,1950,2342,2342,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.31,53.15
$GC,22,-1.78,-487.5,1792,1950,2341,4094,0.2,0.0,1,34,0.00,0.00,-6.70,0.000,16902,0.000,0.000,1792,1950,3054,3054,4094,0,0,0,0,0,0,26.28,25.51,26.29,10.31,52.63
$GC,67,-1.78,-487.5,1792,1950,3055,4094,2.9,-11.6,8,73,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1950,3055,3055,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.47,52.83
$GC,106,-1.78,-487.5,1792,1949,3056,4095,9.1,-16.5,14,113,0.00,1.10,0.00,0.000,516,0.000,0.052,1792,1516,3057,3057,4095,0,0,0,0,0,0,26.28,25.96,26.29,10.47,52.52
$GC,164,-1.78,-487.5,1792,1516,3057,4095,19.0,-16.8,23,170,0.00,1.08,0.00,0.000,1030,0.000,0.028,1792,1968,3059,3059,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.47,52.63
$GC,204,-1.78,-487.5,1792,1968,3060,4095,25.3,-15.3,29,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1968,3060,3060,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.43,51.96
$GC,243,-1.78,-487.5,1792,1968,3060,4094,30.1,-12.3,35,249,0.00,1.08,0.00,0.000,260,0.000,0.047,1792,2376,3060,3060,4094,0,0,0,0,0,0,26.39,26.07,26.39,10.40,51.22
$GC,307,-1.78,-487.5,1791,2377,3062,4094,37.7,-11.7,45,313,0.00,1.05,0.00,0.000,1030,0.000,0.031,1792,1954,3062,3062,4095,0,0,0,0,0,0,26.17,26.13,26.21,10.38,49.72
$GC,346,-1.78,-487.5,1792,1954,3062,4095,42.3,-11.4,51,353,0.00,1.10,0.00,0.000,516,0.000,0.052,1792,1523,3062,3062,4095,0,0,0,0,0,0,26.44,26.12,26.46,10.36,49.29
$GC,422,-1.78,-487.5,1790,1522,3064,4095,51.5,-12.4,63,429,0.00,1.00,0.00,0.000,1030,0.000,0.026,1792,1952,3064,3064,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.35,47.83
$GC,462,-1.78,-487.5,1792,1951,3065,4094,56.4,-12.5,69,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,1952,3065,3065,4094,0,0,0,0,0,0,26.50,26.52,26.51,10.34,47.63
$STATE,491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,491,begin apogee
$GC,500,-0.45,0.0,1792,2134,3066,4095,60.5,-12.6,74,536,4.22,0.00,28.10,1.307,10244,0.054,0.000,2186,2134,2484,2484,4095,0,0,0,0,0,0,26.20,25.30,24.25,10.33,47.95
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,538,begin climb
$GC,541,1.78,487.5,2185,2134,2484,4095,63.2,0.0,80,584,7.47,1.10,27.88,1.279,10756,0.031,0.042,2894,1715,1916,1916,4094,0,0,0,0,0,0,25.52,25.46,23.84,10.20,46.96
$GC,635,1.78,487.5,2894,1715,1914,4094,54.9,12.9,95,642,0.00,1.05,0.00,0.000,1030,0.000,0.031,2894,2132,1914,1914,4094,0,0,0,0,0,0,25.41,25.39,25.44,10.08,46.22
$GC,675,1.78,487.5,2894,2131,1913,4094,49.5,13.3,101,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2132,1913,1913,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.07,46.29
$GC,714,1.78,487.5,2894,2131,1912,4094,44.2,13.4,107,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2132,1911,1911,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.06,46.29
$GC,753,1.78,487.5,2894,2131,1911,4094,39.0,13.3,113,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2132,1911,1911,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.06,46.61
$GC,792,1.78,487.5,2894,2132,1910,4094,33.9,12.7,119,799,0.00,1.10,0.00,0.000,516,0.000,0.044,2894,1717,1910,1910,4094,0,0,0,0,0,0,26.03,25.72,26.03,10.06,46.73
$GC,856,1.78,487.5,2894,1717,1907,4094,26.3,11.5,129,863,0.00,1.02,0.00,0.000,1030,0.000,0.031,2894,2132,1908,1908,4095,0,0,0,0,0,0,25.89,25.86,25.91,10.06,47.12
$GC,896,1.78,487.5,2894,2132,1907,4095,21.9,10.7,135,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,2132,1907,1907,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.08,48.07
$GC,935,1.89,563.3,2894,2132,1906,4094,18.4,9.4,141,949,0.28,1.10,5.40,0.584,10756,0.045,0.044,2930,1716,1826,1826,4094,0,0,0,0,0,0,26.00,25.40,24.81,10.12,48.89
$GC,1024,2.09,694.0,2929,1715,1824,4094,10.5,8.6,155,1038,0.52,0.95,8.30,0.628,11270,0.025,0.028,2992,2112,1673,1673,4094,0,0,0,0,0,0,26.03,25.99,24.89,10.14,52.20
$GC,1072,2.09,694.0,2991,2112,1672,4094,5.3,12.1,162,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2113,1672,1672,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.12,52.36
$STATE,1095,end climb,FINISH_DEPTH_REACHED
$STATE,1095,begin subsurface finish
$FINISH1,1.9,1.023806,125
$GC,1105,0.19,125.1,2991,2112,1671,4094,1.9,12.5,166,1124,6.20,0.00,-5.90,0.000,20998,0.036,0.000,2403,2113,2340,2340,4094,0,0,0,0,0,0,25.98,25.43,26.01,10.13,52.59
$FINISH2,0.2
$STATE,1125,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1125,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,190817,075631
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.54
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.84,37.269
$10V_AH,10.37,38.164
$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,25.000,13.625,69.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,436.144,257.191,159.448,245.658,86.044,0.000,347.019,0.000,254.136,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,52.020,1306.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,113.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,14226,169
$CAP_FILE_SIZE,30865,0
$CFSIZE,1024409600,954384384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190817,091741,6155.618,-17410.652,5,0.8,16,6.9,0.5,169.2,9,4.6