version: 66.13
glider: 401
mission: 22
dive: 3574
start: 9 26 117 4 16 3
data:
$ID,401
$MISSION,22
$DIVE,3574
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,260917,040504,5754.6802,-16858.9668,8,0.8,17,9.3,0.0,211.0,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-35.5
$GPS2,260917,041524,5754.6182,-16859.0898,6,0.8,18,9.3,1.0,261.3,10,5.0
$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,281.2,10021,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.69,-487.5,231,1937,1864,4092,0.0,0.0,0,23,9.10,0.00,0.00,0.000,2049,0.087,0.000,1010,1938,1864,1864,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.23,52.95
$GC,30,-1.69,-487.5,1009,1938,1864,4094,0.7,0.0,1,58,8.18,1.25,-10.88,0.000,18692,0.041,1.197,1790,2395,3057,3057,4094,0,0,0,0,0,0,25.94,23.79,25.98,10.23,53.03
$GC,189,-1.69,-487.5,1790,2395,3060,4094,15.7,-12.2,14,192,0.00,1.08,0.00,0.000,1030,0.000,0.027,1790,1957,3060,3060,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.48,53.11
$GC,264,-1.69,-487.5,1790,1957,3062,4094,26.8,-15.0,20,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1957,3062,3062,4094,0,0,0,0,0,0,26.58,26.60,26.58,10.48,52.83
$STATE,330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,330,begin apogee
$GC,345,-0.45,0.0,1790,2142,3064,4094,36.2,-12.7,26,380,4.22,0.00,28.60,1.057,10244,0.050,0.000,2186,2142,2484,2484,4094,0,0,0,0,0,0,26.04,25.05,23.79,10.44,51.77
$STATE,381,end apogee,CONTROL_FINISHED_OK
$STATE,381,begin climb
$GC,388,1.69,487.5,2186,2142,2484,4094,39.7,0.0,30,428,7.00,0.00,27.95,1.037,11270,0.029,0.000,2871,2142,1915,1915,4094,0,0,0,0,0,0,25.84,26.02,23.61,10.32,51.53
$GC,492,1.69,487.5,2870,2141,1913,4094,30.2,12.5,39,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2142,1914,1914,4095,0,0,0,0,0,0,26.05,26.06,26.06,10.19,49.13
$GC,564,1.69,487.5,2871,2141,1912,4095,21.9,10.9,45,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2142,1912,1912,4095,0,0,0,0,0,0,26.27,26.28,26.28,10.22,50.15
$GC,636,1.69,487.5,2870,2142,1910,4095,13.8,11.2,51,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2142,1910,1910,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.22,51.41
$GC,708,1.73,512.6,2870,2142,1908,4094,6.9,9.4,57,716,0.00,1.12,2.95,0.261,8708,0.000,0.041,2871,1708,1885,1885,4095,0,0,0,0,0,0,26.48,25.15,24.03,10.23,52.00
$STATE,740,end climb,FINISH_DEPTH_REACHED
$STATE,740,begin subsurface finish
$FINISH1,1.9,1.024594,70
$GC,756,0.11,70.1,2871,2128,1883,4094,1.9,13.1,60,772,4.88,0.00,-3.88,0.000,20998,0.018,0.000,2368,2129,2407,2407,4094,0,0,0,0,0,0,26.22,25.50,26.26,10.23,52.71
$FINISH2,0.9
$STATE,773,end subsurface finish,CONTROL_FINISHED_OK
$STATE,773,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,260917,040908
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.67
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.61,103.117
$10V_AH,9.97,85.402
$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,33.375,5.000,59.500,0.000,0.000,46.012,41.908,219.750,0.000,0.000,19.982,212.163,355.660,109.852,391.781,328.878,0.000,221.551,0.000,134.073,0.000,0.543,0.000
$DEVICE_MAMPS,87.210,1197.225,1057.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,40.662,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333848
$DATA_FILE_SIZE,3902,62
$CAP_FILE_SIZE,20404,0
$CFSIZE,1024409600,890306560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260917,041524,5754.618,-16859.090,6,0.8,18,9.3,1.0,261.3,10,5.0