version: 66.13
glider: 401
mission: 22
dive: 3200
start: 9 20 117 2 28 37
data:
$ID,401
$MISSION,22
$DIVE,3200
$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,3
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,200917,020853,5832.7173,-17001.8594,6,0.8,15,8.8,0.9,337.2,11,4.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-2.7
$GPS2,200917,020853,5832.7173,-17001.8594,6,0.8,15,8.8,0.9,337.2,11,4.6
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W3S
$TGT_LATLONG,5803.150,-16922.180
$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,135.8,67161,-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,-487.5,2370,1976,2409,4093,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.021,0.000,1803,1981,2409,2409,4094,0,0,0,0,0,0,26.63,28.83,28.83,10.31,53.70
$GC,26,-1.80,-487.5,1802,1981,2409,4094,0.2,0.0,1,40,0.17,1.17,-5.45,0.000,20740,0.047,1.212,1771,2387,3055,3055,4095,0,0,0,0,0,0,26.39,23.78,26.40,10.32,53.11
$GC,200,-1.80,-487.5,1771,2388,3060,4095,24.5,-17.5,28,206,0.00,1.10,0.00,0.000,1030,0.000,0.031,1771,1947,3060,3060,4094,0,0,0,0,0,0,26.22,26.17,26.25,10.46,53.58
$GC,242,-1.80,-487.5,1770,1946,3061,4094,30.6,-13.6,34,249,0.00,1.08,0.00,0.000,516,0.000,0.053,1771,1522,3061,3061,4095,0,0,0,0,0,0,26.63,26.03,26.65,10.43,53.26
$GC,321,-1.80,-487.5,1771,1522,3063,4095,41.3,-13.3,46,327,0.00,1.02,0.00,0.000,1030,0.000,0.028,1771,1960,3064,3064,4094,0,0,0,0,0,0,26.32,26.31,26.35,10.41,51.81
$GC,364,-1.80,-487.5,1771,1959,3064,4094,47.0,-13.5,52,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1959,3065,3065,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.41,51.61
$GC,405,-1.80,-487.5,1771,1959,3065,4094,52.6,-13.7,58,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1959,3066,3066,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.40,51.77
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,437,-0.45,0.0,1771,2135,3066,4094,55.6,-13.5,61,473,4.40,0.00,28.75,1.254,10244,0.053,0.000,2186,2135,2485,2485,4094,0,0,0,0,0,0,26.13,25.10,23.72,10.40,51.37
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,481,1.80,487.5,2185,2135,2484,4094,59.1,0.0,67,522,7.38,0.00,28.30,1.229,11270,0.028,0.000,2900,2135,1915,1915,4094,0,0,0,0,0,0,25.76,25.95,23.41,10.28,50.35
$GC,558,1.80,487.5,2899,2135,1915,4094,52.6,13.3,79,565,0.00,1.12,0.00,0.000,516,0.000,0.043,2900,1712,1914,1914,4094,0,0,0,0,0,0,25.76,25.36,25.77,10.16,49.33
$GC,673,1.80,487.5,2899,1711,1911,4094,36.4,13.6,97,680,0.00,1.05,0.00,0.000,1030,0.000,0.030,2900,2137,1911,1911,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.15,49.64
$GC,716,1.80,487.5,2899,2137,1910,4094,30.6,13.4,103,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2137,1910,1910,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.14,49.96
$GC,758,1.80,487.5,2900,2137,1908,4094,24.9,13.5,109,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2137,1908,1908,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.14,49.84
$GC,800,1.91,557.2,2899,2137,1907,4094,20.6,9.7,115,813,0.25,1.10,5.28,0.571,10756,0.041,0.047,2938,1716,1833,1833,4094,0,0,0,0,0,0,26.16,25.20,23.96,10.17,51.02
$GC,927,1.91,557.2,2937,1715,1830,4094,5.8,11.6,134,934,0.00,1.02,0.00,0.000,1030,0.000,0.031,2938,2133,1830,1830,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.18,52.83
$STATE,945,end climb,FINISH_DEPTH_REACHED
$STATE,945,begin subsurface finish
$FINISH1,1.9,1.024617,68
$GC,960,0.10,68.5,2938,2133,1829,4094,1.9,12.9,137,980,5.72,1.27,-5.00,0.000,20740,0.026,1.225,2366,2563,2411,2411,4094,0,0,0,0,0,0,26.25,23.70,26.28,10.18,53.78
$FINISH2,0.3
$STATE,981,end subsurface finish,CONTROL_FINISHED_OK
$STATE,981,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,020003
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.34
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.41,93.013
$10V_AH,10.17,81.230
$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,23.575,10.750,62.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,366.544,223.796,125.538,202.760,126.227,0.000,275.545,0.000,213.111,0.000,0.544,0.000
$DEVICE_MAMPS,52.785,1224.765,1253.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.369,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,10839,140
$CAP_FILE_SIZE,22699,0
$CFSIZE,1024409600,888963072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,020853,5832.717,-17001.859,6,0.8,15,8.8,0.9,337.2,11,4.6