version: 66.13
glider: 401
mission: 22
dive: 3331
start: 9 22 117 6 32 19
data:
$ID,401
$MISSION,22
$DIVE,3331
$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,51
$R_STBD_OVSHOOT,62
$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
$GPS1,220917,061904,5817.0532,-16943.5781,23,0.8,26,8.9,0.3,198.5,10,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-38.5
$GPS2,220917,063134,5817.0674,-16943.4961,6,0.9,19,8.9,1.1,100.8,9,5.0
$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,132.1,33177,-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,-487.5,231,1995,1901,4092,0.0,0.0,0,24,9.57,0.00,0.00,0.000,2049,0.093,0.000,1039,1996,1902,1902,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.24,53.54
$GC,31,-1.80,-487.5,1038,1995,1902,4094,1.0,0.0,1,54,7.45,1.30,-10.60,0.000,19204,0.037,1.216,1756,1546,3056,3056,4095,0,0,0,0,0,0,25.99,23.65,26.07,10.25,52.71
$GC,290,-1.80,-487.5,1755,1546,3062,4095,30.6,-14.5,22,293,0.00,0.88,0.00,0.000,1030,0.000,0.026,1756,1932,3062,3062,4095,0,0,0,0,0,0,26.31,26.29,26.33,10.48,52.16
$GC,365,-1.80,-487.5,1755,1934,3064,4095,40.1,-13.2,28,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1933,3064,3064,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.45,52.16
$GC,437,-1.80,-487.5,1755,1937,3066,4094,49.8,-13.8,34,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1938,3066,3066,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.44,51.14
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,481,-0.45,0.0,1756,2130,3066,4094,55.2,-15.1,37,518,4.60,0.00,28.95,1.244,10244,0.054,0.000,2185,2131,2484,2484,4094,0,0,0,0,0,0,26.09,25.03,23.64,10.43,50.90
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,525,1.80,487.5,2185,2130,2484,4094,59.1,0.0,41,565,7.38,0.00,28.27,1.230,11270,0.028,0.000,2901,2131,1916,1916,4095,0,0,0,0,0,0,25.77,25.96,23.39,10.31,49.96
$GC,629,1.80,487.5,2900,2130,1914,4095,49.1,15.5,50,633,0.00,1.05,0.00,0.000,516,0.000,0.047,2901,1740,1914,1914,4095,0,0,0,0,0,0,25.94,25.48,25.95,10.18,49.05
$GC,745,1.80,487.5,2901,1739,1910,4095,33.5,15.1,59,752,0.00,0.93,0.00,0.000,1030,0.000,0.028,2901,2127,1910,1910,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.17,49.84
$GC,813,1.80,487.5,2901,2127,1908,4094,23.9,13.1,65,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2127,1907,1907,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.20,50.11
$GC,885,1.80,487.5,2901,2127,1906,4094,15.1,11.9,71,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2127,1905,1905,4094,0,0,0,0,0,0,26.48,26.48,26.48,10.21,51.89
$GC,957,1.83,505.8,2901,2127,1903,4094,7.1,10.5,77,964,0.00,0.00,2.38,0.139,8198,0.000,0.000,2901,2127,1893,1893,4094,0,0,0,0,0,0,26.54,24.87,23.80,10.22,53.34
$STATE,1011,end climb,FINISH_DEPTH_REACHED
$STATE,1011,begin subsurface finish
$FINISH1,1.1,1.024534,74
$GC,1026,0.11,74.2,2901,2127,1891,4094,1.1,10.0,82,1044,5.20,1.15,-4.60,0.000,20996,0.021,1.223,2372,1740,2405,2405,4094,0,0,0,0,0,0,26.27,23.80,26.32,10.22,53.38
$FINISH2,0.1
$STATE,1045,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1045,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,220917,062452
$TT8_MAMPS,0.025466,0.164031
$HUMID,53.38
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.39,96.689
$10V_AH,9.92,82.762
$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,34.200,5.775,59.600,0.000,0.000,70.266,105.514,218.925,0.000,0.000,20.298,274.192,541.501,109.949,541.825,339.426,0.000,251.269,0.000,190.632,0.000,0.544,0.000
$DEVICE_MAMPS,93.330,1223.235,1243.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,55.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333568
$DATA_FILE_SIZE,7399,84
$CAP_FILE_SIZE,24156,0
$CFSIZE,1024409600,892387328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220917,063134,5817.067,-16943.496,6,0.9,19,8.9,1.1,100.8,9,5.0