version: 66.13
glider: 401
mission: 22
dive: 3569
start: 9 26 117 2 41 42
data:
$ID,401
$MISSION,22
$DIVE,3569
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,35
$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,12
$T_MISSION,20
$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,43
$R_STBD_OVSHOOT,34
$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
$GPS1,260917,022549,5754.8853,-16856.8496,13,0.8,19,9.3,0.4,161.6,11,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-3.2
$GPS2,260917,022549,5754.8853,-16856.8496,13,0.8,19,9.3,0.4,161.6,11,4.6
$SPEED_LIMITS,0.208,0.382
$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,275.3,11975,-10.6,-9.722,-14.28,7498
$D_GRID,35
$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,-1.69,-487.5,2379,1935,2409,4092,0.0,0.0,0,23,5.78,0.00,-3.12,0.000,20482,0.018,0.000,1799,1940,2759,2759,4095,0,0,0,0,0,0,26.29,28.83,26.34,10.35,53.26
$GC,30,-1.69,-487.5,1798,1940,2759,4095,0.4,0.0,1,40,0.00,1.23,-2.55,0.000,16644,0.000,1.215,1798,2375,3056,3056,4094,0,0,0,0,0,0,26.60,23.91,26.58,10.41,53.11
$GC,130,-1.69,-487.5,1798,2375,3058,4094,11.6,-14.1,9,133,0.00,1.02,0.00,0.000,1030,0.000,0.030,1798,1963,3058,3058,4094,0,0,0,0,0,0,26.22,26.18,26.25,10.48,52.95
$GC,205,-1.69,-487.5,1798,1963,3060,4094,22.7,-15.5,15,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1963,3060,3060,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.49,52.67
$GC,277,-1.69,-487.5,1798,1963,3062,4094,32.8,-13.5,21,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,1963,3062,3062,4094,0,0,0,0,0,0,26.67,26.68,26.67,10.46,52.95
$STATE,294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,295,begin apogee
$GC,309,-0.45,0.0,1798,2140,3062,4094,35.7,-12.1,23,345,4.12,0.00,28.40,1.053,10244,0.050,0.000,2186,2140,2483,2483,4094,0,0,0,0,0,0,26.10,25.09,23.84,10.44,53.26
$STATE,346,end apogee,CONTROL_FINISHED_OK
$STATE,346,begin climb
$GC,353,1.69,487.5,2186,2140,2484,4094,38.9,0.0,27,394,6.97,1.10,27.85,1.029,10500,0.028,0.050,2874,2558,1916,1916,4094,0,0,0,0,0,0,25.72,25.66,23.66,10.32,52.12
$GC,459,1.69,487.5,2873,2557,1914,4094,30.5,12.7,35,466,0.00,1.05,0.00,0.000,1030,0.000,0.024,2874,2131,1913,1913,4094,0,0,0,0,0,0,25.81,25.77,25.82,10.19,49.84
$GC,526,1.69,487.5,2873,2131,1912,4094,21.6,10.6,41,529,0.00,1.05,0.00,0.000,516,0.000,0.047,2874,1724,1912,1912,4094,0,0,0,0,0,0,26.27,25.76,26.28,10.22,50.86
$GC,649,1.69,487.5,2874,1723,1909,4094,8.4,9.8,51,653,0.00,0.95,0.00,0.000,1030,0.000,0.027,2874,2126,1909,1909,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.23,52.24
$STATE,706,end climb,FINISH_DEPTH_REACHED
$STATE,706,begin subsurface finish
$FINISH1,1.1,1.024591,70
$GC,721,0.11,70.3,2874,2126,1907,4094,1.1,12.6,56,736,5.00,1.17,-4.45,0.000,20996,0.021,1.213,2372,1720,2409,2409,4095,0,0,0,0,0,0,26.21,23.83,26.25,10.23,52.52
$FINISH2,0.1
$STATE,737,end subsurface finish,CONTROL_FINISHED_OK
$STATE,737,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,260917,012657
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.38
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.66,102.999
$10V_AH,9.96,85.355
$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,21.875,8.425,56.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,207.054,284.465,90.184,127.913,90.264,0.000,194.343,0.000,138.212,0.000,0.545,0.000
$DEVICE_MAMPS,50.490,1214.820,1053.405,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,38.323,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333900
$DATA_FILE_SIZE,3916,58
$CAP_FILE_SIZE,15910,0
$CFSIZE,1024409600,890568704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260917,022549,5754.885,-16856.850,13,0.8,19,9.3,0.4,161.6,11,4.6