version: 66.13
glider: 401
mission: 22
dive: 3436
start: 9 23 117 21 51 51
data:
$ID,401
$MISSION,22
$DIVE,3436
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,230917,214225,5803.2227,-16920.3828,5,0.8,19,9.1,0.7,218.7,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-31.1
$GPS2,230917,215112,5803.1567,-16920.2676,1,0.8,13,9.1,0.0,78.5,10,4.9
$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,128.0,16798,-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,-487.5,230,1961,1782,4091,0.0,0.0,0,24,9.27,0.00,0.00,0.000,2049,0.093,0.000,1014,1962,1782,1782,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.21,53.26
$GC,31,-1.80,-487.5,1014,1961,1782,4094,0.8,0.0,1,60,7.75,1.23,-11.95,0.000,19204,0.041,1.201,1754,2379,3056,3056,4094,0,0,0,0,0,0,25.98,23.70,26.06,10.22,53.15
$GC,298,-1.80,-487.5,1754,2378,3062,4094,34.2,-13.4,23,302,0.00,1.08,0.00,0.000,1030,0.000,0.030,1755,1944,3062,3062,4095,0,0,0,0,0,0,26.17,26.14,26.21,10.45,52.32
$GC,374,-1.80,-487.5,1755,1944,3064,4095,44.1,-13.4,29,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1944,3064,3064,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.43,51.41
$GC,446,-1.80,-487.5,1754,1944,3066,4094,54.3,-14.2,35,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1944,3067,3067,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.42,51.81
$STATE,463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,463,begin apogee
$GC,478,-0.45,0.0,1755,2152,3067,4094,57.6,-14.0,37,514,4.60,0.00,29.20,1.284,10244,0.053,0.000,2185,2152,2484,2484,4094,0,0,0,0,0,0,26.06,24.96,23.53,10.42,51.53
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,522,1.80,487.5,2185,2152,2484,4094,61.5,0.0,41,562,7.43,0.00,28.62,1.260,11270,0.030,0.000,2901,2152,1916,1916,4094,0,0,0,0,0,0,25.73,25.91,23.28,10.30,50.23
$GC,626,1.80,487.5,2901,2152,1914,4094,52.5,13.5,50,630,0.00,1.17,0.00,0.000,516,0.000,0.047,2902,1717,1914,1914,4094,0,0,0,0,0,0,25.91,25.44,25.93,10.18,49.44
$GC,731,1.80,487.5,2901,1716,1911,4094,40.9,11.5,58,738,0.00,0.98,0.00,0.000,1030,0.000,0.029,2902,2117,1911,1911,4095,0,0,0,0,0,0,25.92,25.89,25.95,10.17,49.72
$GC,798,1.80,487.5,2901,2116,1909,4095,31.2,13.6,64,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2117,1909,1909,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.16,50.39
$GC,870,1.80,487.5,2901,2116,1907,4094,22.5,11.4,70,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2117,1907,1907,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.20,51.18
$GC,942,1.80,487.5,2901,2116,1905,4094,14.1,11.9,76,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2117,1905,1905,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.21,53.30
$GC,1016,1.80,487.5,2901,2117,1903,4094,5.9,11.0,82,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2117,1903,1903,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.22,53.34
$STATE,1043,end climb,FINISH_DEPTH_REACHED
$STATE,1043,begin subsurface finish
$FINISH1,1.7,1.024519,75
$GC,1059,0.11,75.3,2902,2123,1901,4094,1.7,11.3,85,1075,5.30,1.15,-4.57,0.000,20996,0.037,1.208,2372,1710,2401,2401,4094,0,0,0,0,0,0,26.30,23.83,26.34,10.21,53.74
$FINISH2,0.1
$STATE,1076,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,230917,204007
$TT8_MAMPS,0.026964,0.163282
$HUMID,54.09
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.28,99.451
$10V_AH,9.92,83.866
$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,34.350,6.100,57.825,0.000,0.000,23.399,20.266,218.356,0.000,0.000,20.264,280.585,459.509,117.706,407.568,343.326,0.000,261.766,0.000,192.056,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,1207.935,1283.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,57.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,7313,87
$CAP_FILE_SIZE,23273,0
$CFSIZE,1024409600,887226368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230917,215112,5803.157,-16920.268,1,0.8,13,9.1,0.0,78.5,10,4.9