version: 66.13
glider: 401
mission: 22
dive: 3124
start: 9 18 117 21 4 53
data:
$ID,401
$MISSION,22
$DIVE,3124
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$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,17
$T_MISSION,30
$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,30
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,30
$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,4
$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
$GPS1,180917,205034,5843.1211,-17013.4883,2,0.8,41,8.7,0.4,245.2,10,4.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-31.9
$GPS2,180917,210413,5843.0532,-17013.6152,10,0.8,16,8.7,0.0,186.0,9,4.5
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,136.6,26888,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,12,-1.80,-487.5,240,1950,1660,4092,0.0,0.0,0,23,8.52,0.00,0.00,0.000,2049,0.076,0.000,986,1950,1661,1661,4094,0,0,0,0,0,0,26.42,28.83,28.83,10.20,52.40
$GC,30,-1.80,-487.5,986,1950,1660,4094,0.6,0.0,1,58,8.07,1.25,-12.60,0.000,18692,0.038,1.205,1754,2374,3055,3055,4094,0,0,0,0,0,0,25.94,23.58,26.03,10.21,52.08
$GC,254,-1.80,-487.5,1754,2373,3062,4094,30.7,-17.2,32,264,0.00,1.08,0.00,0.000,1030,0.000,0.029,1754,1943,3062,3062,4094,0,0,0,0,0,0,26.15,26.17,26.20,10.47,51.26
$GC,304,-1.80,-487.5,1754,1943,3063,4094,37.8,-14.0,38,312,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1943,3063,3063,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.45,50.66
$GC,352,-1.80,-487.5,1754,1942,3064,4094,44.5,-13.8,44,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1943,3064,3064,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.44,50.43
$GC,401,-1.80,-487.5,1753,1943,3066,4094,51.6,-14.1,50,410,0.00,1.05,0.00,0.000,516,0.000,0.044,1754,1520,3066,3066,4094,0,0,0,0,0,0,26.63,26.09,26.65,10.43,49.13
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,434,-0.45,0.0,1754,2139,3066,4095,55.0,-15.0,52,477,4.62,0.00,29.00,1.248,10244,0.054,0.000,2186,2139,2484,2484,4095,0,0,0,0,0,0,26.06,24.56,23.68,10.42,49.05
$STATE,478,end apogee,CONTROL_FINISHED_OK
$STATE,478,begin climb
$GC,485,1.80,487.5,2186,2139,2484,4095,59.7,0.0,57,529,7.43,0.00,28.48,1.232,11270,0.028,0.000,2902,2140,1915,1915,4094,0,0,0,0,0,0,25.75,25.94,23.39,10.30,48.85
$GC,571,1.80,487.5,2901,2139,1914,4094,53.0,13.0,67,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2139,1914,1914,4094,0,0,0,0,0,0,25.80,25.81,25.81,10.17,46.92
$GC,620,1.80,487.5,2901,2139,1913,4094,46.4,13.3,73,630,0.00,1.15,0.00,0.000,516,0.000,0.047,2902,1710,1913,1913,4094,0,0,0,0,0,0,26.02,25.55,26.03,10.17,47.51
$GC,761,1.80,487.5,2901,1710,1908,4094,27.1,13.5,93,771,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2135,1908,1908,4094,0,0,0,0,0,0,25.97,25.98,26.04,10.17,48.42
$GC,811,1.81,494.2,2902,2134,1907,4094,21.8,10.7,99,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1907,1907,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.19,48.97
$GC,860,1.81,494.2,2902,2134,1906,4094,16.2,11.2,105,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1905,1905,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.21,50.55
$GC,909,1.81,494.2,2901,2134,1904,4095,10.5,11.6,111,919,0.00,1.10,0.00,0.000,516,0.000,0.048,2902,1717,1904,1904,4094,0,0,0,0,0,0,26.51,26.01,26.52,10.22,50.86
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,1.6,1.024529,75
$GC,995,0.11,74.6,2902,2155,1902,4094,1.6,11.2,121,1014,5.25,0.00,-4.43,0.000,20486,0.021,0.000,2373,2156,2401,2401,4095,0,0,0,0,0,0,26.25,25.54,26.30,10.22,52.16
$FINISH2,0.2
$STATE,1015,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1015,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,180917,205818
$TT8_MAMPS,0.025466,0.268891
$HUMID,52.00
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.39,90.908
$10V_AH,9.84,80.051
$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,33.900,9.250,57.475,0.000,0.000,95.735,106.556,217.203,0.000,0.000,17.473,347.722,135.114,108.740,897.866,350.469,0.000,316.459,0.000,302.915,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,1204.875,1247.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.304,334.229,264.458,392.218,510.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333572
$DATA_FILE_SIZE,10929,123
$CAP_FILE_SIZE,27279,0
$CFSIZE,1024409600,892698624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180917,210413,5843.053,-17013.615,10,0.8,16,8.7,0.0,186.0,9,4.5