version: 66.13
glider: 401
mission: 22
dive: 1130
start: 8 16 117 3 4 9
data:
$ID,401
$MISSION,22
$DIVE,1130
$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,37
$R_STBD_OVSHOOT,60
$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
$GPS1,160817,024313,6154.7783,-17406.2617,6,0.8,15,6.9,0.0,0.0,11,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.0
$GPS2,160817,024313,6154.7783,-17406.2617,6,0.8,15,6.9,0.0,0.0,11,4.4
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W12N
$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,276.9,13975,-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,-487.5,2400,1989,2347,4091,0.0,0.0,0,29,6.47,0.00,-6.88,0.000,20486,0.024,0.000,1773,1989,3055,3055,4094,0,0,0,0,0,0,26.01,25.43,26.06,10.30,53.42
$GC,32,-1.78,-487.5,1773,1989,3054,4094,0.0,-0.4,2,42,0.00,1.17,0.00,0.000,516,0.000,0.051,1773,1535,3055,3055,4094,0,0,0,0,0,0,26.14,25.84,26.15,10.46,52.87
$GC,277,-1.78,-487.5,1772,1534,3061,4094,34.5,-12.6,38,287,0.00,0.90,0.00,0.000,1030,0.000,0.026,1773,1928,3061,3061,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.38,51.18
$GC,324,-1.78,-487.5,1772,1927,3062,4094,40.2,-12.0,44,333,0.00,1.02,0.00,0.000,516,0.000,0.049,1773,1532,3062,3062,4095,0,0,0,0,0,0,26.41,26.10,26.42,10.36,50.27
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,489,-0.45,0.0,1773,2126,3066,4095,60.2,-13.3,67,525,4.43,0.00,28.33,1.311,10244,0.055,0.000,2185,2127,2484,2484,4095,0,0,0,0,0,0,26.20,25.31,24.25,10.33,47.99
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,530,1.78,487.5,2185,2126,2484,4095,63.6,0.0,71,575,7.55,1.17,28.02,1.281,10500,0.033,0.053,2892,2565,1918,1918,4094,0,0,0,0,0,0,25.49,25.43,23.84,10.20,47.32
$GC,660,1.78,487.5,2891,2565,1916,4094,51.2,13.2,88,669,0.00,1.08,0.00,0.000,1030,0.000,0.026,2892,2136,1915,1915,4094,0,0,0,0,0,0,25.58,25.54,25.59,10.07,46.18
$GC,708,1.78,487.5,2891,2136,1913,4094,44.9,12.9,94,717,0.00,1.10,0.00,0.000,516,0.000,0.046,2892,1716,1914,1914,4094,0,0,0,0,0,0,25.89,25.60,25.90,10.06,46.53
$GC,846,1.78,487.5,2892,1715,1910,4094,26.6,12.9,114,855,0.00,0.93,0.00,0.000,1030,0.000,0.030,2892,2097,1910,1910,4094,0,0,0,0,0,0,25.91,25.88,25.91,10.05,47.63
$GC,892,1.78,487.5,2891,2097,1909,4094,21.4,10.9,120,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2097,1908,1908,4095,0,0,0,0,0,0,26.17,26.19,26.19,10.06,47.36
$GC,939,1.94,595.4,2891,2097,1907,4095,17.4,8.9,126,955,0.47,0.00,7.05,0.651,10246,0.037,0.000,2943,2097,1788,1788,4094,0,0,0,0,0,0,26.01,25.44,24.90,10.11,48.93
$GC,995,2.00,635.2,2942,2097,1787,4094,11.9,9.9,133,1005,0.10,1.00,3.72,0.403,10756,0.079,0.047,2964,1719,1743,1743,4094,0,0,0,0,0,0,26.00,25.77,24.96,10.11,50.82
$STATE,1078,end climb,FINISH_DEPTH_REACHED
$STATE,1078,begin subsurface finish
$FINISH1,1.7,1.023848,122
$GC,1090,0.18,122.1,2964,2148,1740,4094,1.7,11.7,145,1109,5.82,0.00,-5.55,0.000,20486,0.024,0.000,2400,2153,2347,2347,4094,0,0,0,0,0,0,26.03,25.45,26.08,10.13,52.00
$FINISH2,0.1
$STATE,1110,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$IRIDIUM_FIX,6149.06,-17422.35,160817,012524
$TT8_MAMPS,0.026215,0.242676
$HUMID,52.83
$INTERNAL_PRESSURE,10.1993
$TCM_TEMP,2.80
$XPDR_PINGS,0
$24V_AH,23.84,31.558
$10V_AH,10.14,33.547
$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,24.850,11.500,67.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,400.661,0.000,97.507,610.677,60.521,0.000,299.899,0.000,358.623,0.000,0.543,0.000
$DEVICE_MAMPS,78.795,52.785,1311.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.484,399.439,316.157,469.011,610.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14257,147
$CAP_FILE_SIZE,22010,0
$CFSIZE,1024409600,963969024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160817,024313,6154.778,-17406.262,6,0.8,15,6.9,0.0,0.0,11,4.4