version: 66.13
glider: 401
mission: 22
dive: 3126
start: 9 18 117 21 42 45
data:
$ID,401
$MISSION,22
$DIVE,3126
$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,30
$R_STBD_OVSHOOT,22
$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
$GPS1,180917,210413,5843.0532,-17013.6152,10,0.8,16,8.7,0.0,186.0,9,4.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-1.7
$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,-487.5,2382,1948,2401,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.022,0.000,1820,1948,2401,2401,4094,0,0,0,0,0,0,26.61,28.83,28.83,10.33,53.54
$GC,26,-1.80,-487.5,1819,1948,2401,4094,0.1,0.0,1,40,0.32,1.25,-5.97,0.000,20740,0.036,1.215,1773,2384,3055,3055,4095,0,0,0,0,0,0,26.34,23.77,26.36,10.33,54.13
$GC,206,-1.80,-487.5,1772,2384,3059,4095,24.4,-16.7,29,212,0.00,1.08,0.00,0.000,1030,0.000,0.032,1773,1953,3059,3059,4095,0,0,0,0,0,0,26.22,26.18,26.26,10.48,53.97
$GC,248,-1.80,-487.5,1772,1953,3061,4095,31.0,-14.7,35,255,0.00,1.10,0.00,0.000,516,0.000,0.052,1773,1520,3061,3061,4095,0,0,0,0,0,0,26.64,26.06,26.65,10.44,53.30
$GC,369,-1.80,-487.5,1772,1520,3064,4095,46.7,-12.3,54,376,0.00,1.00,0.00,0.000,1030,0.000,0.027,1773,1949,3064,3064,4095,0,0,0,0,0,0,26.36,26.34,26.39,10.40,51.77
$GC,412,-1.80,-487.5,1772,1949,3065,4095,52.4,-13.1,60,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1949,3065,3065,4095,0,0,0,0,0,0,26.70,26.72,26.72,10.40,51.69
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,444,-0.45,0.0,1773,2142,3066,4095,55.3,-12.1,63,480,4.38,0.00,28.75,1.241,10244,0.053,0.000,2186,2143,2483,2483,4095,0,0,0,0,0,0,26.14,25.13,23.79,10.39,51.61
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,487,1.80,487.5,2185,2143,2484,4095,58.6,0.0,69,529,7.43,0.00,28.30,1.215,11270,0.030,0.000,2900,2143,1915,1915,4094,0,0,0,0,0,0,25.77,25.96,23.46,10.28,50.15
$GC,565,1.80,487.5,2899,2143,1914,4094,51.5,13.1,81,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1914,1914,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.16,49.44
$GC,607,1.80,487.5,2900,2142,1913,4094,45.3,14.2,87,614,0.00,1.15,0.00,0.000,516,0.000,0.047,2900,1711,1912,1912,4094,0,0,0,0,0,0,25.98,25.51,25.98,10.15,48.97
$GC,715,1.80,487.5,2900,1710,1910,4094,30.4,14.1,104,722,0.00,1.02,0.00,0.000,1030,0.000,0.031,2900,2128,1910,1910,4094,0,0,0,0,0,0,25.93,25.90,25.96,10.15,49.88
$GC,758,1.80,487.5,2900,2128,1909,4094,24.8,12.1,110,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1908,1908,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.15,50.11
$GC,800,1.81,489.5,2900,2128,1907,4094,20.6,10.8,116,807,0.00,1.10,0.00,0.000,516,0.000,0.046,2901,1711,1907,1907,4094,0,0,0,0,0,0,26.40,25.88,26.41,10.18,50.59
$GC,909,1.81,489.5,2900,1710,1904,4094,8.2,12.0,133,915,0.00,0.95,0.00,0.000,1030,0.000,0.028,2901,2110,1904,1904,4094,0,0,0,0,0,0,26.19,26.16,26.20,10.20,52.99
$GC,952,1.81,489.5,2900,2109,1903,4094,3.5,11.3,139,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2110,1903,1903,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.20,53.03
$STATE,962,end climb,SURFACE_DEPTH_REACHED
$STATE,962,begin surface coast
$FINISH,0.2,1.024517
$STATE,982,end surface coast,CONTROL_FINISHED_OK
$STATE,982,begin surface
$SM_CCo,1092,0.00,0.000,0,0,1902,500.56
$SM_GC,1.05,27.15,0.40,0.00,0.018,0.041,0.000,238,1951,1902,-6.55,1.50,500.56,0,0,0,0,0,0,26.27,26.22,26.31
$IRIDIUM_FIX,5807.44,-16912.56,180917,205818
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.03
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.46,90.949
$10V_AH,10.22,80.071
$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,44.875,9.950,57.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,385.885,301.733,136.798,208.360,131.445,0.000,286.054,0.000,218.570,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1214.820,1240.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,10807,144
$CAP_FILE_SIZE,24116,0
$CFSIZE,1024409600,892600320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180917,220157,5842.604,-17014.135,2,0.8,12,8.7,0.0,150.9,11,4.6