version: 66.13
glider: 401
mission: 22
dive: 3454
start: 9 24 117 4 44 53
data:
$ID,401
$MISSION,22
$DIVE,3454
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,240917,043530,5759.6611,-16918.3809,5,0.7,52,9.1,0.4,246.5,11,55.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-39.3
$GPS2,240917,044413,5759.6729,-16918.3828,1,0.9,11,9.1,0.5,250.7,9,5.0
$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,112.4,11226,-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,13,-1.80,-487.5,231,1971,1902,4092,0.0,0.0,0,24,9.30,0.00,0.00,0.000,2049,0.094,0.000,1016,1971,1902,1902,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.24,53.15
$GC,31,-1.80,-487.5,1016,1971,1902,4094,0.9,0.0,1,59,7.82,1.23,-10.88,0.000,19204,0.044,1.224,1757,1547,3057,3057,4095,0,0,0,0,0,0,26.04,23.70,26.11,10.24,53.38
$GC,68,-1.80,-487.5,1757,1547,3057,4095,0.1,2.5,4,75,0.00,0.93,0.00,0.000,1030,0.000,0.026,1758,1945,3057,3057,4095,0,0,0,0,0,0,26.05,26.03,26.08,10.50,53.74
$GC,137,-1.80,-487.5,1757,1945,3059,4095,9.4,-14.7,10,141,0.00,1.05,0.00,0.000,516,0.000,0.050,1758,1544,3060,3060,4095,0,0,0,0,0,0,26.44,25.86,26.46,10.49,52.91
$GC,373,-1.80,-487.5,1757,1543,3065,4095,44.5,-14.1,29,376,0.00,0.95,0.00,0.000,1030,0.000,0.027,1758,1953,3066,3066,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.44,51.61
$GC,448,-1.80,-487.5,1757,1952,3067,4095,55.0,-13.9,35,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1953,3068,3068,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.43,51.29
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,480,-0.45,0.0,1757,2134,3068,4095,58.4,-14.2,37,517,4.55,0.00,29.23,1.291,10244,0.053,0.000,2185,2134,2484,2484,4094,0,0,0,0,0,0,26.07,24.96,23.53,10.43,51.14
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,525,1.80,487.5,2184,2133,2484,4094,62.2,0.0,41,564,7.43,0.00,28.55,1.262,11270,0.029,0.000,2901,2134,1916,1916,4095,0,0,0,0,0,0,25.73,25.91,23.28,10.31,50.43
$GC,628,1.80,487.5,2901,2133,1914,4095,52.1,13.4,50,632,0.00,1.08,0.00,0.000,516,0.000,0.044,2901,1732,1914,1914,4095,0,0,0,0,0,0,25.92,25.48,25.93,10.18,49.17
$GC,768,1.80,487.5,2901,1732,1909,4095,33.3,13.7,61,775,0.00,0.95,0.00,0.000,1030,0.000,0.029,2901,2125,1909,1909,4093,0,0,0,0,0,0,25.99,25.96,26.02,10.16,49.68
$GC,838,1.80,487.5,2902,2125,1907,4093,23.3,14.1,67,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1907,1907,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.18,50.70
$GC,909,1.86,522.0,2901,2124,1905,4094,15.6,10.3,73,919,0.10,0.98,3.08,0.316,10756,0.077,0.043,2924,1734,1880,1880,4094,0,0,0,0,0,0,26.26,24.65,23.95,10.21,52.20
$STATE,1002,end climb,FINISH_DEPTH_REACHED
$STATE,1008,begin subsurface finish
$FINISH1,1.7,1.024530,75
$GC,1025,0.11,74.5,2923,2144,1876,4094,1.7,14.8,81,1038,5.53,0.00,-4.72,0.000,20486,0.030,0.000,2368,2153,2403,2403,4095,0,0,0,0,0,0,26.26,24.37,26.30,10.21,53.18
$FINISH2,0.2
$STATE,1039,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1040,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,240917,033224
$TT8_MAMPS,0.026215,0.170023
$HUMID,54.05
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.28,99.927
$10V_AH,9.92,84.059
$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,34.725,8.575,60.850,0.000,0.000,24.871,21.414,215.913,0.000,0.000,18.317,278.884,421.501,110.445,414.005,344.095,0.000,257.034,0.000,201.975,0.000,0.542,0.000
$DEVICE_MAMPS,94.095,1224.000,1291.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333844
$DATA_FILE_SIZE,7316,83
$CAP_FILE_SIZE,24241,0
$CFSIZE,1024409600,886341632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240917,044413,5759.673,-16918.383,1,0.9,11,9.1,0.5,250.7,9,5.0