version: 66.13
glider: 401
mission: 22
dive: 3254
start: 9 20 117 23 2 54
data:
$ID,401
$MISSION,22
$DIVE,3254
$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,31
$R_STBD_OVSHOOT,72
$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
$GPS1,200917,224321,5824.1284,-16950.6875,6,0.9,17,8.9,0.5,247.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-3.3
$GPS2,200917,224321,5824.1284,-16950.6875,6,0.9,17,8.9,0.5,247.8,10,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W3S
$TGT_LATLONG,5803.150,-16922.180
$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,135.4,47854,-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,-487.5,2372,2008,2401,4092,0.0,0.0,0,24,6.07,0.00,-3.38,0.000,20482,0.019,0.000,1760,2008,2766,2766,4095,0,0,0,0,0,0,26.30,28.83,26.34,10.34,53.34
$GC,31,-1.80,-487.5,1759,2009,2766,4095,0.2,0.0,1,41,0.00,1.35,-2.62,0.000,16900,0.000,1.232,1759,1530,3055,3055,4094,0,0,0,0,0,0,26.61,23.78,26.58,10.41,53.81
$GC,198,-1.80,-487.5,1758,1530,3060,4094,23.7,-16.8,14,201,0.00,0.88,0.00,0.000,1030,0.000,0.026,1759,1919,3060,3060,4094,0,0,0,0,0,0,26.33,26.31,26.34,10.49,53.70
$GC,273,-1.80,-487.5,1758,1919,3062,4094,35.5,-13.7,20,277,0.00,1.15,0.00,0.000,260,0.000,0.044,1759,2362,3063,3063,4094,0,0,0,0,0,0,26.66,26.11,26.67,10.44,52.99
$GC,342,-1.80,-487.5,1758,2363,3064,4094,44.3,-13.7,25,349,0.00,1.02,0.00,0.000,1030,0.000,0.032,1759,1951,3064,3064,4095,0,0,0,0,0,0,26.28,26.24,26.30,10.43,52.20
$GC,409,-1.80,-487.5,1758,1950,3066,4095,54.5,-14.4,31,415,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1952,3066,3066,4094,0,0,0,0,0,0,26.71,26.72,26.72,10.42,51.96
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,442,-0.45,0.0,1759,2133,3067,4095,57.9,-14.2,33,478,4.55,0.00,29.00,1.285,10244,0.054,0.000,2186,2133,2483,2483,4095,0,0,0,0,0,0,26.13,25.08,23.69,10.42,51.45
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,486,1.80,487.5,2186,2133,2484,4095,61.8,0.0,37,526,7.35,1.12,28.42,1.262,10500,0.029,0.050,2902,2556,1916,1916,4094,0,0,0,0,0,0,25.62,25.56,23.38,10.30,50.66
$GC,536,1.80,487.5,2901,2556,1915,4094,60.3,7.0,41,542,0.00,1.08,0.00,0.000,1030,0.000,0.025,2902,2136,1915,1915,4094,0,0,0,0,0,0,25.32,25.29,25.34,10.18,50.07
$GC,604,1.80,487.5,2901,2136,1914,4094,50.2,14.0,47,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2137,1913,1913,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.17,49.72
$GC,676,1.80,487.5,2901,2136,1911,4094,40.4,13.7,53,680,0.00,1.08,0.00,0.000,516,0.000,0.047,2902,1719,1911,1911,4094,0,0,0,0,0,0,26.20,25.71,26.21,10.16,50.47
$GC,800,1.80,487.5,2901,1719,1907,4094,24.1,12.4,63,803,0.00,0.98,0.00,0.000,1030,0.000,0.029,2902,2122,1908,1908,4094,0,0,0,0,0,0,26.07,26.04,26.10,10.19,50.47
$GC,876,1.80,487.5,2901,2122,1906,4094,15.5,11.5,69,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1905,1905,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.20,52.59
$GC,947,1.80,487.5,2901,2122,1903,4094,6.6,11.6,75,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1903,1903,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.21,53.30
$STATE,989,end climb,FINISH_DEPTH_REACHED
$STATE,989,begin subsurface finish
$FINISH1,1.0,1.024510,76
$GC,1004,0.11,75.9,2902,2131,1901,4094,1.0,12.0,79,1019,5.18,0.00,-4.45,0.000,20998,0.022,0.000,2372,2131,2400,2400,4094,0,0,0,0,0,0,26.28,24.39,26.32,10.22,53.70
$FINISH2,0.1
$STATE,1020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,213159
$TT8_MAMPS,0.025466,0.164031
$HUMID,53.85
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.38,94.472
$10V_AH,9.92,81.869
$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,23.150,9.650,57.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,268.222,425.726,101.975,173.785,114.172,0.000,235.371,0.000,181.966,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1232.415,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333688
$DATA_FILE_SIZE,3901,81
$CAP_FILE_SIZE,20602,0
$CFSIZE,1024409600,886308864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,224321,5824.128,-16950.688,6,0.9,17,8.9,0.5,247.8,10,5.0