version: 66.13
glider: 401
mission: 22
dive: 3210
start: 9 20 117 6 9 24
data:
$ID,401
$MISSION,22
$DIVE,3210
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,200917,053014,5832.3257,-16957.8574,6,0.8,21,8.8,0.3,222.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-4.2
$GPS2,200917,053014,5832.3257,-16957.8574,6,0.8,21,8.8,0.3,222.9,11,5.0
$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,138.3,64359,-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,-487.5,2365,1963,2412,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.024,0.000,1806,1964,2412,2412,4094,0,0,0,0,0,0,26.61,28.83,28.83,10.31,54.29
$GC,26,-1.80,-487.5,1806,1963,2412,4094,0.1,0.0,1,40,0.20,1.20,-5.90,0.000,20740,0.055,1.213,1780,2376,3054,3054,4095,0,0,0,0,0,0,26.31,23.77,26.33,10.31,53.50
$GC,166,-1.80,-487.5,1779,2376,3057,4095,16.3,-15.7,22,172,0.00,1.05,0.00,0.000,1030,0.000,0.032,1780,1954,3058,3058,4095,0,0,0,0,0,0,26.19,26.15,26.22,10.45,53.50
$GC,208,-1.80,-487.5,1780,1954,3058,4095,23.9,-15.7,28,215,0.00,1.08,0.00,0.000,516,0.000,0.054,1780,1526,3059,3059,4095,0,0,0,0,0,0,26.61,26.02,26.63,10.45,53.50
$GC,281,-1.80,-487.5,1779,1526,3060,4095,33.3,-12.5,39,287,0.00,0.98,0.00,0.000,1030,0.000,0.028,1780,1947,3060,3060,4094,0,0,0,0,0,0,26.32,26.29,26.34,10.43,53.18
$GC,323,-1.80,-487.5,1779,1946,3061,4094,38.5,-12.7,45,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1947,3062,3062,4094,0,0,0,0,0,0,26.67,26.68,26.67,10.41,53.15
$GC,365,-1.80,-487.5,1779,1946,3062,4094,43.9,-13.5,51,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1947,3063,3063,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.40,52.24
$GC,407,-1.80,-487.5,1779,1946,3064,4094,49.9,-14.3,57,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1947,3064,3064,4095,0,0,0,0,0,0,26.70,26.71,26.70,10.39,52.36
$STATE,442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,442,begin apogee
$GC,457,-0.45,0.0,1780,2138,3065,4094,55.5,-13.1,63,493,4.30,0.00,28.75,1.264,10244,0.053,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.12,25.10,23.72,10.39,51.29
$STATE,494,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,501,1.80,487.5,2185,2138,2484,4094,59.4,0.0,69,542,7.43,0.00,28.33,1.231,11270,0.029,0.000,2901,2138,1915,1915,4094,0,0,0,0,0,0,25.76,25.95,23.39,10.28,50.90
$GC,578,1.80,487.5,2901,2137,1915,4094,52.6,12.8,81,585,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1712,1914,1914,4094,0,0,0,0,0,0,25.76,25.34,25.77,10.16,49.88
$GC,699,1.80,487.5,2901,1712,1911,4094,36.4,14.3,100,706,0.00,1.02,0.00,0.000,1030,0.000,0.031,2901,2129,1911,1911,4094,0,0,0,0,0,0,25.86,25.83,25.90,10.14,49.72
$GC,742,1.80,487.5,2901,2128,1910,4094,30.4,13.7,106,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1909,1909,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.13,50.23
$GC,784,1.80,487.5,2901,2128,1907,4094,25.1,12.1,112,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1908,1908,4094,0,0,0,0,0,0,26.35,26.37,26.36,10.16,50.35
$GC,825,1.80,487.5,2901,2128,1907,4094,20.1,11.6,118,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1907,1907,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.17,51.29
$GC,867,1.80,487.5,2901,2128,1906,4094,15.1,12.0,124,874,0.00,1.08,0.00,0.000,516,0.000,0.043,2901,1716,1906,1906,4095,0,0,0,0,0,0,26.45,25.94,26.46,10.19,52.40
$STATE,975,end climb,SURFACE_DEPTH_REACHED
$STATE,976,begin surface coast
$FINISH,0.8,1.024652
$STATE,983,end surface coast,CONTROL_FINISHED_OK
$STATE,983,begin surface
$SM_CCo,1093,0.00,0.000,0,0,1902,501.42
$SM_GC,1.11,27.20,0.57,0.00,0.019,0.034,0.000,238,1970,1902,-6.55,-1.50,501.42,0,0,0,0,0,0,26.25,26.23,26.29
$IRIDIUM_FIX,5807.44,-16912.56,200917,041748
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.18
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.39,93.267
$10V_AH,10.16,81.352
$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,44.750,9.025,57.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,383.380,297.110,140.297,207.183,137.526,0.000,291.166,0.000,217.327,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1212.525,1263.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.787,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333688
$DATA_FILE_SIZE,10814,143
$CAP_FILE_SIZE,24445,0
$CFSIZE,1024409600,888471552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,062904,5831.624,-16956.650,36,0.8,39,8.8,2.0,100.4,10,4.6