version: 66.13
glider: 401
mission: 22
dive: 3223
start: 9 20 117 11 18 23
data:
$ID,401
$MISSION,22
$DIVE,3223
$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,28
$R_STBD_OVSHOOT,28
$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
$GPS1,200917,110703,5828.0244,-16955.1523,5,0.8,32,8.9,0.5,228.4,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-41.8
$GPS2,200917,111743,5828.0093,-16955.2969,7,0.9,17,8.9,0.0,231.7,10,4.8
$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,135.9,56328,-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,-487.5,238,1943,1902,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.106,0.000,701,1944,1902,1902,4094,0,0,0,0,0,0,26.43,28.83,28.83,10.24,52.83
$GC,27,-1.80,-487.5,701,1944,1902,4094,1.0,0.0,1,58,11.32,1.25,-10.62,0.000,18692,0.049,1.200,1754,2380,3056,3056,4094,0,0,0,0,0,0,25.97,23.61,26.05,10.25,52.79
$GC,260,-1.80,-487.5,1753,2380,3062,4094,30.1,-14.2,38,266,0.00,1.08,0.00,0.000,1030,0.000,0.031,1754,1948,3062,3062,4095,0,0,0,0,0,0,26.13,26.09,26.17,10.46,51.85
$GC,303,-1.80,-487.5,1753,1948,3063,4095,35.9,-13.7,44,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3062,3062,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.45,51.41
$GC,344,-1.80,-487.5,1753,1949,3064,4095,41.8,-13.9,50,351,0.00,1.08,0.00,0.000,516,0.000,0.050,1754,1522,3064,3064,4095,0,0,0,0,0,0,26.60,26.01,26.60,10.44,50.66
$GC,423,-1.80,-487.5,1753,1522,3067,4095,53.0,-15.3,62,430,0.00,1.00,0.00,0.000,1030,0.000,0.026,1754,1951,3066,3066,4095,0,0,0,0,0,0,26.30,26.27,26.32,10.42,50.23
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,449,-0.45,0.0,1754,2141,3067,4094,55.7,-15.1,64,490,4.60,0.00,29.02,1.274,10244,0.054,0.000,2185,2141,2483,2483,4094,0,0,0,0,0,0,26.03,24.52,23.63,10.42,50.70
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,498,1.80,487.5,2184,2141,2483,4094,59.7,0.0,71,539,7.47,0.00,28.38,1.244,11270,0.029,0.000,2902,2142,1916,1916,4094,0,0,0,0,0,0,25.73,25.91,23.33,10.31,49.44
$GC,576,1.80,487.5,2901,2141,1914,4094,53.9,11.8,83,582,0.00,1.12,0.00,0.000,516,0.000,0.044,2902,1718,1914,1914,4094,0,0,0,0,0,0,25.74,25.32,25.75,10.18,48.22
$GC,696,1.80,487.5,2901,1718,1911,4094,36.9,14.5,102,703,0.00,1.00,0.00,0.000,1030,0.000,0.030,2902,2124,1911,1911,4095,0,0,0,0,0,0,25.86,25.83,25.89,10.16,48.58
$GC,739,1.80,487.5,2901,2124,1910,4095,31.0,13.5,108,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1909,1909,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.16,48.85
$GC,781,1.80,487.5,2901,2124,1908,4094,25.5,12.5,114,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1908,1908,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.16,49.60
$GC,822,1.80,487.5,2901,2124,1907,4094,20.4,11.6,120,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1907,1907,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.19,50.43
$GC,864,1.80,487.5,2901,2124,1905,4094,15.6,11.6,126,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1905,1905,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.20,51.06
$GC,906,1.80,487.5,2901,2124,1905,4095,10.8,11.4,132,913,0.00,1.08,0.00,0.000,516,0.000,0.046,2902,1714,1905,1905,4094,0,0,0,0,0,0,26.49,25.94,26.51,10.21,52.12
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,1.4,1.024557,73
$GC,995,0.11,72.7,2902,2149,1902,4094,1.4,12.2,144,1009,5.28,0.00,-4.45,0.000,20486,0.022,0.000,2373,2149,2406,2406,4094,0,0,0,0,0,0,26.24,24.36,26.28,10.22,52.55
$FINISH2,0.2
$STATE,1010,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1010,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,111101
$TT8_MAMPS,0.026215,0.162533
$HUMID,53.22
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.33,93.640
$10V_AH,9.98,81.526
$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,34.300,9.100,57.400,0.000,0.000,48.479,45.308,241.724,0.000,0.000,18.306,383.501,276.838,134.618,511.389,349.123,0.000,296.008,0.000,223.248,0.000,0.543,0.000
$DEVICE_MAMPS,105.570,1200.285,1273.725,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333564
$DATA_FILE_SIZE,10791,146
$CAP_FILE_SIZE,27544,0
$CFSIZE,1024409600,887832576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,111743,5828.009,-16955.297,7,0.9,17,8.9,0.0,231.7,10,4.8