version: 66.13
glider: 401
mission: 22
dive: 3513
start: 9 25 117 8 9 34
data:
$ID,401
$MISSION,22
$DIVE,3513
$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,41
$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
$GPS1,250917,073117,5754.9268,-16858.6816,1,0.8,18,9.3,0.6,168.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.6
$GPS2,250917,073117,5754.9268,-16858.6816,1,0.8,18,9.3,0.6,168.1,9,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5756.510,-16838.230
$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,72.4,20316,-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,-487.5,2375,1948,2406,4092,0.0,0.0,0,24,6.15,0.00,-2.75,0.000,20482,0.024,0.000,1761,1948,2695,2695,4095,0,0,0,0,0,0,26.25,28.83,26.29,10.32,54.09
$GC,31,-1.80,-487.5,1761,1948,2695,4095,0.0,0.0,1,41,0.00,1.25,-3.42,0.000,16900,0.000,1.231,1761,1524,3058,3058,4095,0,0,0,0,0,0,26.58,23.76,26.57,10.38,54.52
$GC,196,-1.80,-487.5,1761,1523,3062,4095,21.4,-16.5,14,200,0.00,0.98,0.00,0.000,1030,0.000,0.026,1761,1945,3062,3062,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.46,54.44
$GC,274,-1.80,-487.5,1760,1946,3064,4095,33.4,-13.8,20,277,0.00,1.08,0.00,0.000,260,0.000,0.044,1761,2364,3064,3064,4095,0,0,0,0,0,0,26.65,26.08,26.67,10.44,54.17
$GC,353,-1.80,-487.5,1760,2364,3066,4095,44.0,-13.8,26,360,0.00,1.00,0.00,0.000,1030,0.000,0.030,1761,1966,3067,3067,4095,0,0,0,0,0,0,26.30,26.27,26.33,10.42,52.87
$GC,423,-1.80,-487.5,1760,1966,3068,4095,54.4,-14.5,32,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1966,3068,3068,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.41,52.79
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,453,-0.45,0.0,1761,2143,3069,4094,58.0,-14.7,34,490,4.53,0.00,29.23,1.274,10244,0.054,0.000,2184,2143,2484,2484,4095,0,0,0,0,0,0,26.09,25.01,23.61,10.40,52.28
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,498,1.80,487.5,2184,2142,2484,4095,61.7,0.0,38,537,7.45,0.00,28.45,1.255,11270,0.030,0.000,2901,2143,1916,1916,4094,0,0,0,0,0,0,25.77,25.96,23.32,10.28,51.81
$GC,601,1.80,487.5,2900,2142,1914,4094,52.4,12.9,47,605,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1708,1914,1914,4094,0,0,0,0,0,0,25.94,25.48,25.95,10.16,50.78
$GC,693,1.80,487.5,2900,1707,1911,4094,40.5,13.5,54,700,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2118,1911,1911,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.15,50.78
$GC,763,1.80,487.5,2901,2117,1909,4094,30.7,13.7,60,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1909,1909,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.15,50.82
$GC,833,1.80,487.5,2900,2118,1907,4094,22.0,11.4,66,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1907,1907,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.18,51.92
$GC,905,1.80,487.5,2900,2117,1905,4094,13.5,11.9,72,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1905,1905,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.19,53.74
$GC,977,1.80,487.5,2900,2118,1903,4094,4.0,12.9,78,981,0.00,1.08,0.00,0.000,516,0.000,0.049,2901,1711,1903,1903,4094,0,0,0,0,0,0,26.57,25.98,26.59,10.19,54.52
$STATE,999,end climb,SURFACE_DEPTH_REACHED
$STATE,999,begin surface coast
$FINISH,0.3,1.024571
$STATE,1012,end surface coast,CONTROL_FINISHED_OK
$STATE,1012,begin surface
$SM_CCo,1122,0.00,0.000,0,0,1901,501.42
$SM_GC,1.00,27.38,0.57,0.00,0.019,0.031,0.000,231,1995,1901,-6.59,-1.37,501.42,0,0,0,0,0,0,25.95,26.31,26.05
$IRIDIUM_FIX,5807.44,-16912.56,250917,061926
$TT8_MAMPS,0.025466,0.164031
$HUMID,53.70
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.32,101.663
$10V_AH,9.92,84.815
$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,45.500,9.050,57.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,276.518,498.960,120.890,171.943,125.266,0.000,251.910,0.000,180.560,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1230.885,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,3885,81
$CAP_FILE_SIZE,21679,0
$CFSIZE,1024409600,893304832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250917,082954,5755.155,-16857.000,4,0.9,50,9.3,0.3,137.6,9,3.1