version: 66.13
glider: 401
mission: 22
dive: 2644
start: 9 10 117 22 34 45
data:
$ID,401
$MISSION,22
$DIVE,2644
$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,53
$R_STBD_OVSHOOT,47
$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,2
$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
$GPS1,100917,222312,5937.1934,-17058.7988,4,0.8,15,8.4,0.0,214.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-42.2
$GPS2,100917,223406,5937.1724,-17058.6426,9,0.8,23,8.4,0.3,95.8,11,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5905.380,-17028.039
$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,145.3,65685,-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,-487.5,238,1978,1861,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.099,0.000,945,1977,1861,1861,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.25,52.12
$GC,30,-1.80,-487.5,944,1977,1860,4094,0.9,0.0,1,57,8.75,1.10,-11.23,0.000,18692,0.045,1.208,1754,2353,3054,3054,4094,0,0,0,0,0,0,25.93,23.63,25.98,10.25,51.96
$GC,143,-1.80,-487.5,1754,2354,3056,4094,9.1,-16.7,16,152,0.00,0.95,0.00,0.000,1030,0.000,0.029,1754,1979,3056,3056,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.51,51.73
$GC,192,-1.80,-487.5,1754,1979,3058,4095,17.7,-17.6,22,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1979,3058,3058,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.51,51.69
$GC,241,-1.80,-487.5,1754,1979,3059,4094,26.2,-17.5,28,251,0.00,1.17,0.00,0.000,516,0.000,0.049,1754,1519,3060,3060,4094,0,0,0,0,0,0,26.46,25.94,26.46,10.48,51.14
$GC,324,-1.80,-487.5,1754,1518,3062,4094,37.5,-13.7,39,334,0.00,0.98,0.00,0.000,1030,0.000,0.026,1754,1938,3062,3062,4094,0,0,0,0,0,0,26.21,26.19,26.24,10.43,49.92
$GC,375,-1.80,-487.5,1754,1937,3063,4094,44.6,-14.1,45,384,0.00,1.15,0.00,0.000,260,0.000,0.044,1754,2376,3063,3063,4094,0,0,0,0,0,0,26.54,26.04,26.55,10.41,48.81
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,445,begin apogee
$GC,459,-0.45,0.0,1754,2109,3065,4095,55.6,-14.4,55,496,4.68,0.05,28.48,1.271,10244,0.056,0.149,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.07,25.13,23.85,10.39,47.75
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,497,begin climb
$GC,504,1.80,487.5,2186,2137,2484,4094,60.0,0.0,59,549,7.62,0.00,28.25,1.245,11270,0.030,0.000,2902,2138,1919,1919,4095,0,0,0,0,0,0,25.65,25.86,23.49,10.27,47.08
$GC,591,1.80,487.5,2901,2137,1917,4095,53.9,11.8,69,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1917,1917,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.14,45.94
$GC,641,1.80,487.5,2901,2137,1916,4094,47.4,13.4,75,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1916,1916,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.14,45.90
$GC,692,1.80,487.5,2901,2137,1915,4094,41.0,13.1,81,701,0.00,1.05,0.00,0.000,516,0.000,0.046,2901,1737,1914,1914,4094,0,0,0,0,0,0,26.06,25.63,26.08,10.13,46.65
$GC,800,1.80,487.5,2901,1737,1911,4094,26.2,13.6,96,809,0.00,0.95,0.00,0.000,1030,0.000,0.030,2902,2126,1911,1911,4094,0,0,0,0,0,0,25.96,25.92,25.99,10.12,47.67
$GC,849,1.80,487.5,2901,2126,1910,4094,20.3,11.1,102,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1910,1910,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.16,47.91
$GC,897,1.80,487.5,2901,2126,1908,4094,15.1,11.1,108,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1908,1908,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.18,49.68
$GC,946,1.80,487.5,2901,2126,1907,4094,9.7,11.1,114,954,0.00,1.02,0.00,0.000,516,0.000,0.047,2902,1736,1907,1907,4094,0,0,0,0,0,0,26.43,25.95,26.44,10.19,51.14
$STATE,1014,end climb,FINISH_DEPTH_REACHED
$STATE,1015,begin subsurface finish
$FINISH1,1.4,1.024323,89
$GC,1031,0.13,89.0,2901,2145,1905,4094,1.4,11.4,124,1049,5.30,0.00,-4.35,0.000,20486,0.021,0.000,2384,2146,2383,2383,4094,0,0,0,0,0,0,26.17,25.49,26.22,10.21,52.71
$FINISH2,0.1
$STATE,1050,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1050,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,211740
$TT8_MAMPS,0.025466,0.248668
$HUMID,53.15
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.49,77.295
$10V_AH,9.92,69.319
$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,34.850,10.075,56.725,0.000,0.000,25.708,17.474,281.599,0.000,0.000,24.399,362.462,0.000,111.469,802.149,426.986,0.000,328.862,0.000,310.129,0.000,0.543,0.000
$DEVICE_MAMPS,98.685,1207.935,1270.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.904,342.368,270.904,401.758,522.639,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333540
$DATA_FILE_SIZE,10956,126
$CAP_FILE_SIZE,27857,0
$CFSIZE,1024409600,889552896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100917,223406,5937.172,-17058.643,9,0.8,23,8.4,0.3,95.8,11,5.0