version: 66.13
glider: 401
mission: 22
dive: 3475
start: 9 24 117 18 0 22
data:
$ID,401
$MISSION,22
$DIVE,3475
$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,20
$R_STBD_OVSHOOT,59
$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
$GPS1,240917,174644,5757.2920,-16913.0156,5,0.8,18,9.2,1.0,29.9,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-42.3
$GPS2,240917,175936,5757.3032,-16912.9609,7,0.8,61,9.2,0.5,265.9,10,6.6
$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,99.9,4494,-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,-487.5,237,1956,1902,4092,0.0,0.0,0,24,9.75,0.00,0.00,0.000,2049,0.087,0.000,1072,1957,1902,1902,4094,0,0,0,0,0,0,26.53,28.83,28.83,10.24,53.42
$GC,31,-1.80,-487.5,1072,1956,1902,4094,0.7,0.0,1,53,7.15,1.27,-10.95,0.000,19204,0.041,1.228,1755,1517,3056,3056,4095,0,0,0,0,0,0,26.04,23.79,26.11,10.25,53.74
$GC,270,-1.80,-487.5,1754,1517,3062,4095,31.8,-12.6,20,276,0.00,0.95,0.00,0.000,1030,0.000,0.026,1755,1933,3062,3062,4095,0,0,0,0,0,0,26.32,26.30,26.34,10.46,52.79
$GC,338,-1.80,-487.5,1754,1933,3064,4095,41.5,-13.0,26,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1933,3064,3064,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.45,51.92
$GC,410,-1.80,-487.5,1755,1933,3066,4094,51.9,-14.8,32,413,0.00,1.10,0.00,0.000,260,0.000,0.042,1755,2361,3066,3066,4094,0,0,0,0,0,0,26.71,26.14,26.72,10.44,51.57
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,445,-0.45,0.0,1755,2107,3067,4095,55.3,-13.6,34,482,4.62,0.00,29.12,1.251,10244,0.056,0.000,2185,2102,2483,2483,4094,0,0,0,0,0,0,26.06,25.01,23.61,10.43,51.10
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,490,1.80,487.5,2185,2102,2483,4094,59.4,0.0,38,529,7.40,0.00,28.35,1.232,11270,0.029,0.000,2902,2102,1916,1916,4094,0,0,0,0,0,0,25.78,25.97,23.38,10.31,50.74
$GC,593,1.80,487.5,2901,2102,1914,4094,49.9,13.2,47,597,0.00,0.98,0.00,0.000,516,0.000,0.045,2902,1730,1914,1914,4094,0,0,0,0,0,0,25.97,25.53,25.98,10.18,49.40
$GC,717,1.80,487.5,2902,1729,1910,4094,33.3,13.4,57,720,0.00,0.93,0.00,0.000,1030,0.000,0.029,2902,2113,1910,1910,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.17,49.84
$GC,793,1.80,487.5,2901,2112,1908,4094,22.6,14.3,63,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2113,1908,1908,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.20,50.47
$GC,864,1.80,487.5,2902,2112,1906,4094,14.5,11.3,69,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2113,1905,1905,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.21,52.40
$GC,936,1.80,487.5,2902,2112,1903,4094,5.5,13.8,75,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2112,1903,1903,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.22,53.11
$STATE,966,end climb,FINISH_DEPTH_REACHED
$STATE,966,begin subsurface finish
$FINISH1,1.8,1.024540,74
$GC,981,0.11,73.8,2902,2113,1902,4094,1.8,10.5,78,996,5.20,0.00,-4.62,0.000,20998,0.021,0.000,2373,2122,2405,2405,4094,0,0,0,0,0,0,26.27,24.37,26.32,10.22,54.25
$FINISH2,0.0
$STATE,997,end subsurface finish,CONTROL_FINISHED_OK
$STATE,997,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,240917,175222
$TT8_MAMPS,0.025466,0.135569
$HUMID,53.78
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.38,100.669
$10V_AH,10.02,84.421
$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,34.125,5.925,57.475,0.000,0.000,71.495,88.745,210.733,0.000,0.000,62.724,267.109,512.046,106.188,553.800,342.916,0.000,244.546,0.000,185.210,0.000,0.543,0.000
$DEVICE_MAMPS,87.210,1227.825,1250.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333828
$DATA_FILE_SIZE,3917,80
$CAP_FILE_SIZE,24287,0
$CFSIZE,1024409600,895172608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240917,175936,5757.303,-16912.961,7,0.8,61,9.2,0.5,265.9,10,6.6