version: 66.13
glider: 401
mission: 22
dive: 3440
start: 9 23 117 23 20 9
data:
$ID,401
$MISSION,22
$DIVE,3440
$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,5
$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,27
$R_STBD_OVSHOOT,33
$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
$GPS1,230917,225933,5802.1919,-16919.2090,6,0.8,20,9.1,0.5,38.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,0.8
$GPS2,230917,225933,5802.1919,-16919.2090,6,0.8,20,9.1,0.5,38.1,10,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5756.510,-16908.641
$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,126.3,14787,-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,-487.5,2374,1943,2402,4092,0.0,0.0,0,23,6.03,0.00,-2.85,0.000,20482,0.024,0.000,1778,1944,2701,2701,4094,0,0,0,0,0,0,26.22,28.83,26.28,10.34,53.66
$GC,30,-1.80,-487.5,1777,1946,2701,4094,0.0,0.0,1,40,0.00,1.27,-3.35,0.000,16644,0.000,1.216,1777,2370,3057,3057,4094,0,0,0,0,0,0,26.60,23.80,26.59,10.39,54.01
$GC,278,-1.80,-487.5,1777,2370,3063,4094,32.0,-13.4,21,281,0.00,1.05,0.00,0.000,1030,0.000,0.031,1777,1947,3063,3063,4094,0,0,0,0,0,0,26.27,26.22,26.29,10.45,53.81
$GC,353,-1.80,-487.5,1777,1946,3065,4094,42.1,-13.6,27,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3066,3066,4094,0,0,0,0,0,0,26.70,26.72,26.71,10.43,52.99
$GC,425,-1.80,-487.5,1777,1946,3067,4094,52.1,-13.6,33,431,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1946,3067,3067,4095,0,0,0,0,0,0,26.72,26.74,26.74,10.42,52.24
$STATE,443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,443,begin apogee
$GC,457,-0.45,0.0,1777,2140,3068,4095,55.5,-14.2,35,494,4.35,0.00,29.05,1.250,10246,0.051,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.14,25.03,23.66,10.42,51.77
$STATE,495,end apogee,CONTROL_FINISHED_OK
$STATE,495,begin climb
$GC,501,1.80,487.5,2185,2140,2484,4094,59.5,0.0,39,541,7.40,0.00,28.48,1.223,10502,0.028,0.000,2901,2140,1915,1915,4095,0,0,0,0,0,0,25.79,24.63,23.38,10.30,51.45
$GC,605,1.80,487.5,2901,2140,1913,4095,48.6,13.7,48,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2140,1913,1913,4094,0,0,0,0,0,0,25.95,25.97,25.96,10.17,50.66
$GC,677,1.80,487.5,2901,2140,1911,4094,38.8,13.7,54,681,0.00,1.12,0.00,0.000,516,0.000,0.047,2901,1714,1912,1912,4094,0,0,0,0,0,0,26.20,25.70,26.21,10.16,50.47
$GC,765,1.80,487.5,2901,1713,1908,4094,26.7,13.8,61,769,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2127,1908,1908,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.17,50.31
$GC,842,1.80,487.5,2901,2127,1907,4094,18.1,11.2,67,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1906,1906,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.20,52.59
$GC,913,1.80,487.5,2901,2127,1905,4094,10.1,11.1,73,916,0.00,1.08,0.00,0.000,516,0.000,0.045,2901,1716,1904,1904,4094,0,0,0,0,0,0,26.53,25.98,26.54,10.21,53.42
$STATE,970,end climb,FINISH_DEPTH_REACHED
$STATE,970,begin subsurface finish
$FINISH1,1.8,1.024515,76
$GC,987,0.11,75.6,2901,2146,1902,4094,1.8,13.6,78,1001,5.25,1.27,-4.53,0.000,20996,0.021,1.226,2377,1715,2399,2399,4094,0,0,0,0,0,0,26.20,23.83,26.27,10.21,53.93
$FINISH2,0.0
$STATE,1002,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1002,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,230917,214629
$TT8_MAMPS,0.026215,0.104111
$HUMID,54.17
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.38,99.552
$10V_AH,10.13,83.906
$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,23.025,8.825,57.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,263.708,431.478,100.232,168.014,102.686,0.000,223.335,0.000,177.680,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,1226.295,1250.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333924
$DATA_FILE_SIZE,3873,80
$CAP_FILE_SIZE,18601,0
$CFSIZE,1024409600,887029760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230917,225933,5802.192,-16919.209,6,0.8,20,9.1,0.5,38.1,10,5.0