version: 66.13
glider: 401
mission: 22
dive: 3431
start: 9 23 117 19 57 43
data:
$ID,401
$MISSION,22
$DIVE,3431
$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,29
$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
$GPS1,230917,193732,5804.3062,-16923.5898,0,0.9,14,9.1,0.4,48.6,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.3
$GPS2,230917,193732,5804.3062,-16923.5898,0,0.9,14,9.1,0.4,48.6,9,4.9
$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,125.4,20601,-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,6,begin dive
$GC,13,-1.80,-487.5,2372,1949,2402,4092,0.0,0.0,0,24,6.10,0.00,-2.88,0.000,20482,0.022,0.000,1763,1950,2704,2704,4094,0,0,0,0,0,0,26.27,28.83,26.33,10.33,53.78
$GC,31,-1.80,-487.5,1762,1949,2704,4094,0.0,0.0,1,41,0.00,1.25,-3.38,0.000,17156,0.000,1.230,1763,1521,3059,3059,4095,0,0,0,0,0,0,26.63,23.86,26.62,10.38,54.33
$GC,271,-1.80,-487.5,1762,1521,3066,4095,32.9,-13.2,20,277,0.00,1.00,0.00,0.000,1030,0.000,0.025,1763,1954,3066,3066,4094,0,0,0,0,0,0,26.36,26.34,26.38,10.44,53.70
$GC,339,-1.80,-487.5,1762,1954,3067,4094,42.5,-13.4,26,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1954,3068,3068,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.43,52.87
$GC,411,-1.80,-487.5,1762,1954,3069,4095,52.5,-14.0,32,415,0.00,1.08,0.00,0.000,260,0.000,0.044,1762,2370,3069,3069,4095,0,0,0,0,0,0,26.73,26.17,26.74,10.41,52.24
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,447,-0.45,0.0,1762,2110,3070,4095,56.4,-14.2,34,484,4.50,0.00,29.20,1.257,10244,0.052,0.000,2185,2110,2484,2484,4095,0,0,0,0,0,0,26.14,25.06,23.66,10.42,52.08
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,491,1.80,487.5,2184,2109,2484,4095,60.1,0.0,38,531,7.40,0.00,28.40,1.239,11270,0.029,0.000,2901,2110,1915,1915,4094,0,0,0,0,0,0,25.79,25.98,23.38,10.29,51.69
$GC,595,1.80,487.5,2901,2110,1914,4094,50.8,13.5,47,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2110,1914,1914,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.17,50.07
$GC,667,1.80,487.5,2901,2110,1911,4094,41.3,13.4,53,671,0.00,0.95,0.00,0.000,516,0.000,0.047,2901,1739,1911,1911,4094,0,0,0,0,0,0,26.20,25.72,26.21,10.16,50.35
$GC,758,1.80,487.5,2901,1739,1909,4094,29.1,14.0,60,765,0.00,0.93,0.00,0.000,1030,0.000,0.031,2901,2120,1908,1908,4094,0,0,0,0,0,0,26.02,25.98,26.04,10.15,50.51
$GC,828,1.80,487.5,2901,2119,1907,4094,20.0,12.0,66,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1907,1907,4093,0,0,0,0,0,0,26.46,26.48,26.47,10.19,51.81
$GC,899,1.83,507.4,2901,2119,1905,4093,12.2,10.5,72,906,0.00,0.00,2.50,0.181,8198,0.000,0.000,2901,2120,1891,1891,4094,0,0,0,0,0,0,26.53,24.91,23.80,10.20,53.11
$GC,971,1.83,507.4,2901,2119,1889,4094,3.7,11.9,78,974,0.00,1.00,0.00,0.000,516,0.000,0.044,2901,1734,1889,1889,4094,0,0,0,0,0,0,26.57,26.03,26.58,10.20,54.17
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,1.8,1.024524,75
$GC,996,0.11,75.0,2902,2152,1889,4094,1.8,11.8,79,1013,5.20,0.00,-4.65,0.000,20998,0.021,0.000,2373,2154,2402,2402,4095,0,0,0,0,0,0,26.25,25.56,26.30,10.20,54.09
$FINISH2,0.1
$STATE,1014,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1014,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,230917,182536
$TT8_MAMPS,0.025466,0.16478
$HUMID,54.13
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.38,99.315
$10V_AH,9.92,83.812
$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,23.200,8.300,60.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,264.495,427.836,102.035,173.666,108.416,0.000,234.608,0.000,181.961,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1230.120,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333924
$DATA_FILE_SIZE,3893,81
$CAP_FILE_SIZE,19960,0
$CFSIZE,1024409600,887472128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230917,193732,5804.306,-16923.590,0,0.9,14,9.1,0.4,48.6,9,4.9