version: 66.13
glider: 401
mission: 22
dive: 3477
start: 9 24 117 18 38 13
data:
$ID,401
$MISSION,22
$DIVE,3477
$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,16
$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
$GPS1,240917,175936,5757.3032,-16912.9609,7,0.8,61,9.2,0.5,265.9,10,6.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-2.0
$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,-487.5,2381,1974,2402,4092,0.0,0.0,0,23,6.07,0.00,-2.75,0.000,20482,0.021,0.000,1771,1974,2691,2691,4094,0,0,0,0,0,0,26.33,28.83,26.37,10.33,54.25
$GC,30,-1.80,-487.5,1770,1974,2691,4094,0.0,0.0,1,40,0.00,1.17,-3.40,0.000,17156,0.000,1.217,1771,2380,3055,3055,4095,0,0,0,0,0,0,26.65,23.91,26.63,10.39,54.64
$GC,49,-1.80,-487.5,1770,2385,3055,4095,0.1,-0.2,2,56,0.00,1.12,0.00,0.000,1030,0.000,0.036,1771,1944,3055,3055,4095,0,0,0,0,0,0,26.14,26.09,26.17,10.46,55.47
$GC,118,-1.80,-487.5,1770,1944,3057,4095,9.0,-16.4,8,121,0.00,1.10,0.00,0.000,516,0.000,0.058,1771,1517,3058,3058,4095,0,0,0,0,0,0,26.61,25.98,26.63,10.47,54.48
$GC,281,-1.80,-487.5,1770,1517,3062,4095,33.3,-11.6,21,288,0.00,1.00,0.00,0.000,1030,0.000,0.028,1771,1948,3062,3062,4095,0,0,0,0,0,0,26.35,26.33,26.38,10.44,53.89
$GC,351,-1.80,-487.5,1770,1948,3064,4095,42.7,-13.6,27,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1948,3064,3064,4094,0,0,0,0,0,0,26.72,26.74,26.73,10.42,53.50
$GC,421,-1.80,-487.5,1770,1947,3066,4094,52.9,-14.0,33,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1948,3066,3066,4095,0,0,0,0,0,0,26.74,26.75,26.75,10.42,53.15
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,454,-0.45,0.0,1770,2139,3066,4095,56.1,-13.7,35,490,4.40,0.00,29.00,1.258,10244,0.054,0.000,2184,2139,2484,2484,4094,0,0,0,0,0,0,26.10,25.08,23.68,10.41,52.75
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,497,1.80,487.5,2184,2139,2484,4094,60.0,0.0,39,537,7.40,0.00,28.38,1.236,11270,0.029,0.000,2902,2139,1916,1916,4094,0,0,0,0,0,0,25.80,25.99,23.41,10.30,51.61
$GC,602,1.80,487.5,2902,2138,1914,4094,49.9,13.8,48,605,0.00,1.17,0.00,0.000,516,0.000,0.047,2902,1703,1913,1913,4094,0,0,0,0,0,0,25.97,25.51,25.98,10.17,50.55
$GC,737,1.80,487.5,2901,1703,1910,4094,30.9,13.8,59,741,0.00,1.05,0.00,0.000,1030,0.000,0.030,2902,2133,1910,1910,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.16,51.45
$GC,813,1.80,487.5,2901,2132,1907,4094,20.6,13.7,65,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1907,1907,4093,0,0,0,0,0,0,26.45,26.46,26.46,10.19,52.08
$GC,885,1.80,487.5,2902,2132,1905,4093,12.3,11.4,71,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1905,1905,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.20,53.34
$GC,957,1.80,487.5,2902,2132,1904,4094,4.6,12.3,77,960,0.00,1.12,0.00,0.000,516,0.000,0.044,2902,1700,1903,1903,4094,0,0,0,0,0,0,26.58,26.01,26.59,10.20,54.25
$STATE,990,end climb,SURFACE_DEPTH_REACHED
$STATE,990,begin surface coast
$FINISH,-0.1,1.010379
$STATE,1003,end surface coast,CONTROL_FINISHED_OK
$STATE,1003,begin surface
$SM_CCo,1114,0.00,0.000,0,0,1901,501.42
$SM_GC,0.84,27.27,0.60,0.00,0.019,0.029,0.000,231,1986,1901,-6.59,-1.32,501.42,0,0,0,0,0,0,25.96,26.33,26.06
$IRIDIUM_FIX,5807.44,-16912.56,240917,175222
$TT8_MAMPS,0.025466,0.163282
$HUMID,54.41
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.41,100.711
$10V_AH,9.92,84.437
$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,45.150,9.250,57.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,273.645,500.657,120.865,172.008,119.099,0.000,251.513,0.000,180.543,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1217.115,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,3909,81
$CAP_FILE_SIZE,21706,0
$CFSIZE,1024409600,895074304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240917,185748,5757.525,-16911.482,4,0.8,13,9.2,0.3,329.8,10,4.9