version: 66.13
glider: 401
mission: 22
dive: 3302
start: 9 21 117 19 25 6
data:
$ID,401
$MISSION,22
$DIVE,3302
$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,48
$R_STBD_OVSHOOT,66
$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
$GPS1,210917,190545,5820.6748,-16946.6387,0,0.8,9,8.9,0.0,44.0,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-5.0
$GPS2,210917,190545,5820.6748,-16946.6387,0,0.8,9,8.9,0.0,44.0,11,4.5
$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,134.7,40348,-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,-487.5,2375,1991,2406,4092,0.0,0.0,0,23,6.10,0.00,-2.72,0.000,20482,0.021,0.000,1765,1992,2698,2698,4095,0,0,0,0,0,0,26.25,28.83,26.31,10.33,53.50
$GC,30,-1.80,-487.5,1765,1991,2698,4095,0.2,0.0,1,40,0.00,1.30,-3.38,0.000,16900,0.000,1.227,1765,1543,3059,3059,4095,0,0,0,0,0,0,26.61,23.82,26.60,10.39,53.58
$GC,222,-1.80,-487.5,1764,1543,3064,4095,26.9,-16.5,16,228,0.00,0.88,0.00,0.000,1030,0.000,0.027,1765,1927,3064,3064,4095,0,0,0,0,0,0,26.34,26.32,26.35,10.47,53.50
$GC,290,-1.80,-487.5,1764,1929,3065,4095,36.1,-12.6,22,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1929,3066,3066,4095,0,0,0,0,0,0,26.67,26.70,26.69,10.44,53.50
$GC,362,-1.80,-487.5,1764,1929,3067,4095,45.8,-13.6,28,366,0.00,1.12,0.00,0.000,260,0.000,0.044,1765,2362,3068,3068,4094,0,0,0,0,0,0,26.71,26.13,26.72,10.42,53.07
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,446,-0.45,0.0,1764,2132,3070,4094,56.5,-14.3,34,482,4.50,0.00,29.12,1.266,10244,0.054,0.000,2186,2130,2484,2484,4095,0,0,0,0,0,0,26.13,25.08,23.70,10.41,51.96
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,490,1.80,487.5,2186,2130,2484,4095,60.2,0.0,38,530,7.38,0.00,28.30,1.237,11270,0.031,0.000,2901,2130,1915,1915,4094,0,0,0,0,0,0,25.77,25.96,23.39,10.30,51.96
$GC,594,1.80,487.5,2901,2130,1914,4094,50.7,12.9,47,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1914,1914,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.16,50.03
$GC,666,1.80,487.5,2901,2129,1912,4094,40.9,13.4,53,669,0.00,1.02,0.00,0.000,516,0.000,0.045,2901,1733,1912,1912,4094,0,0,0,0,0,0,26.17,25.70,26.19,10.16,50.27
$GC,765,1.80,487.5,2901,1733,1908,4094,27.3,13.9,61,769,0.00,0.95,0.00,0.000,1030,0.000,0.030,2901,2125,1908,1908,4094,0,0,0,0,0,0,26.03,25.99,26.05,10.15,50.51
$GC,843,1.83,504.7,2901,2125,1907,4094,18.6,10.5,67,850,0.00,0.00,2.42,0.174,8198,0.000,0.000,2901,2125,1895,1895,4094,0,0,0,0,0,0,26.46,24.87,23.69,10.19,52.12
$GC,913,1.83,504.7,2901,2125,1893,4094,10.2,11.3,73,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1893,1893,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.20,53.58
$GC,985,1.95,585.6,2901,2126,1891,4094,2.3,9.6,79,996,0.40,1.02,5.95,0.474,10756,0.034,0.053,2950,1741,1798,1798,4094,0,0,0,0,0,0,26.30,25.30,24.23,10.21,53.78
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,1.0,1.024555,73
$GC,1016,0.11,72.8,2950,2133,1798,4094,1.0,9.4,80,1034,5.68,1.10,-5.40,0.000,20996,0.019,1.217,2375,1733,2403,2403,4095,0,0,0,0,0,0,26.20,23.69,26.25,10.19,54.29
$FINISH2,0.2
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,210917,175431
$TT8_MAMPS,0.025466,0.164031
$HUMID,54.17
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.39,95.900
$10V_AH,9.95,82.450
$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,24.050,9.450,65.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,269.881,438.871,103.314,178.824,108.292,0.000,239.320,0.000,186.212,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1227.060,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,7314,82
$CAP_FILE_SIZE,20648,0
$CFSIZE,1024409600,893812736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210917,190545,5820.675,-16946.639,0,0.8,9,8.9,0.0,44.0,11,4.5