version: 66.13
glider: 401
mission: 22
dive: 3292
start: 9 21 117 15 42 21
data:
$ID,401
$MISSION,22
$DIVE,3292
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,210917,152930,5820.8018,-16950.4473,7,0.8,17,8.9,1.3,0.2,11,4.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-32.0
$GPS2,210917,154136,5820.8936,-16950.5195,8,0.8,19,8.9,0.9,341.3,11,4.7
$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,130.9,43025,-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,-487.5,231,1977,1830,4092,0.0,0.0,0,24,9.57,0.00,0.00,0.000,2049,0.089,0.000,1050,1977,1830,1830,4095,0,0,0,0,0,0,26.46,28.83,28.83,10.23,53.30
$GC,31,-1.80,-487.5,1050,1975,1829,4095,0.7,0.0,1,54,7.50,1.33,-11.15,0.000,18948,0.049,1.226,1756,1526,3055,3055,4095,0,0,0,0,0,0,26.01,23.65,26.08,10.23,52.83
$GC,232,-1.80,-487.5,1756,1526,3060,4095,26.0,-17.7,17,236,0.00,0.95,0.00,0.000,1030,0.000,0.026,1757,1939,3060,3060,4095,0,0,0,0,0,0,26.26,26.23,26.29,10.49,52.71
$GC,308,-1.80,-487.5,1757,1940,3062,4095,36.1,-12.8,23,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1940,3062,3062,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.45,52.40
$GC,380,-1.80,-487.5,1756,1940,3064,4095,45.7,-13.5,29,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1940,3064,3064,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.44,51.49
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,460,-0.45,0.0,1757,2133,3066,4095,55.6,-13.5,35,496,4.57,0.00,28.90,1.248,10244,0.053,0.000,2185,2134,2484,2484,4094,0,0,0,0,0,0,26.09,25.04,23.66,10.43,50.59
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,504,1.80,487.5,2185,2133,2484,4094,59.5,0.0,39,544,7.35,0.00,27.98,1.231,11270,0.028,0.000,2901,2134,1915,1915,4094,0,0,0,0,0,0,25.76,25.95,23.39,10.31,49.80
$GC,608,1.80,487.5,2901,2134,1913,4094,49.4,13.9,48,612,0.00,1.10,0.00,0.000,516,0.000,0.044,2901,1721,1915,1915,4094,0,0,0,0,0,0,25.93,25.49,25.94,10.18,48.81
$GC,744,1.80,487.5,2901,1720,1909,4094,29.7,14.5,59,747,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2131,1909,1909,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.16,49.48
$GC,819,1.80,487.5,2901,2131,1907,4094,20.2,11.7,65,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1907,1907,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.20,51.26
$GC,891,1.80,487.5,2901,2130,1905,4094,11.7,12.1,71,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1905,1905,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.21,52.32
$GC,964,1.84,514.7,2901,2131,1902,4094,3.7,10.4,77,973,0.00,1.02,2.80,0.220,8708,0.000,0.040,2902,1713,1882,1882,4094,0,0,0,0,0,0,26.55,24.58,23.96,10.22,52.91
$STATE,985,end climb,FINISH_DEPTH_REACHED
$STATE,985,begin subsurface finish
$FINISH1,0.7,1.024531,74
$GC,1001,0.11,74.4,2901,2165,1881,4094,0.7,11.2,79,1015,5.30,0.00,-4.70,0.000,20486,0.025,0.000,2373,2172,2404,2404,4094,0,0,0,0,0,0,26.22,24.37,26.27,10.22,53.81
$FINISH2,0.1
$STATE,1016,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1016,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,210917,153506
$TT8_MAMPS,0.025466,0.163282
$HUMID,53.34
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.39,95.638
$10V_AH,9.96,82.346
$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,34.300,6.900,59.675,0.000,0.000,70.762,90.021,207.748,0.000,0.000,20.680,269.426,527.615,107.602,511.516,337.523,0.000,244.477,0.000,182.098,0.000,0.545,0.000
$DEVICE_MAMPS,88.740,1225.530,1248.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,54.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333580
$DATA_FILE_SIZE,3895,81
$CAP_FILE_SIZE,24714,0
$CFSIZE,1024409600,894304256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,210917,154136,5820.894,-16950.520,8,0.8,19,8.9,0.9,341.3,11,4.7