version: 66.13
glider: 401
mission: 22
dive: 3437
start: 9 23 117 22 11 55
data:
$ID,401
$MISSION,22
$DIVE,3437
$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,30
$R_STBD_OVSHOOT,36
$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
$GPS1,230917,215112,5803.1567,-16920.2676,1,0.8,13,9.1,0.0,78.5,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-3.0
$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,12,-1.80,-487.5,2372,1968,2401,4092,0.0,0.0,0,24,6.15,0.00,-3.28,0.000,20482,0.024,0.000,1759,1970,2747,2747,4094,0,0,0,0,0,0,26.29,28.83,26.34,10.33,54.21
$GC,31,-1.80,-487.5,1758,1970,2747,4094,0.0,0.0,1,41,0.00,1.25,-2.65,0.000,17156,0.000,1.227,1758,1527,3056,3056,4095,0,0,0,0,0,0,26.61,23.77,26.58,10.40,53.81
$GC,243,-1.80,-487.5,1758,1527,3062,4095,32.0,-15.6,18,246,0.00,0.98,0.00,0.000,1030,0.000,0.027,1758,1950,3062,3062,4094,0,0,0,0,0,0,26.33,26.31,26.35,10.45,54.09
$GC,320,-1.80,-487.5,1758,1950,3064,4094,42.9,-14.5,24,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1951,3064,3064,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.42,52.99
$GC,390,-1.80,-487.5,1758,1951,3066,4094,53.9,-15.7,30,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1952,3066,3066,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.41,52.44
$STATE,408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,408,begin apogee
$GC,423,-0.45,0.0,1758,2136,3068,4094,57.4,-15.4,32,459,4.57,0.00,29.10,1.281,10246,0.054,0.000,2185,2137,2484,2484,4094,0,0,0,0,0,0,26.10,25.02,23.61,10.41,52.08
$STATE,460,end apogee,CONTROL_FINISHED_OK
$STATE,460,begin climb
$GC,467,1.80,487.5,2185,2136,2484,4094,61.4,0.0,36,506,7.47,0.00,28.58,1.247,10246,0.031,0.000,2901,2137,1915,1915,4094,0,0,0,0,0,0,25.77,24.63,23.33,10.29,51.02
$GC,570,1.80,487.5,2900,2136,1913,4094,51.3,13.2,45,574,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1716,1913,1913,4095,0,0,0,0,0,0,25.94,25.49,25.94,10.16,49.80
$GC,698,1.80,487.5,2900,1716,1909,4095,34.1,13.7,55,705,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2126,1909,1909,4094,0,0,0,0,0,0,25.96,25.93,25.99,10.15,50.55
$GC,766,1.80,487.5,2901,2126,1907,4094,25.1,12.2,61,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1907,1907,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.18,51.10
$GC,838,1.80,487.5,2900,2126,1905,4095,17.2,11.0,67,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1905,1905,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.19,52.91
$GC,910,1.80,487.5,2901,2126,1903,4094,8.7,12.3,73,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1903,1903,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.20,53.85
$STATE,964,end climb,FINISH_DEPTH_REACHED
$STATE,964,begin subsurface finish
$FINISH1,1.2,1.024519,75
$GC,979,0.11,75.3,2901,2132,1901,4094,1.2,12.0,78,997,5.15,1.17,-4.57,0.000,20996,0.020,1.216,2372,1720,2402,2402,4094,0,0,0,0,0,0,26.29,23.83,26.32,10.21,53.85
$FINISH2,0.0
$STATE,998,end subsurface finish,CONTROL_FINISHED_OK
$STATE,998,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,230917,204007
$TT8_MAMPS,0.025466,0.162533
$HUMID,54.21
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.33,99.472
$10V_AH,9.92,83.874
$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,23.350,6.550,57.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,256.886,431.615,108.012,162.633,102.413,0.000,229.632,0.000,172.144,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1227.060,1280.610,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.302,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333940
$DATA_FILE_SIZE,3877,80
$CAP_FILE_SIZE,17983,0
$CFSIZE,1024409600,887177216
$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