version: 66.13
glider: 401
mission: 22
dive: 3346
start: 9 22 117 12 7 31
data:
$ID,401
$MISSION,22
$DIVE,3346
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,220917,115748,5813.6191,-16940.7285,7,0.7,15,9.0,0.5,207.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-39.6
$GPS2,220917,120652,5813.5308,-16940.9023,5,0.8,17,8.9,1.3,194.1,11,4.9
$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,127.4,26575,-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,13,-1.80,-487.5,236,1954,1901,4092,0.0,0.0,0,24,9.23,0.00,0.00,0.000,2049,0.099,0.000,1008,1948,1901,1901,4094,0,0,0,0,0,0,26.47,28.83,28.83,10.24,53.50
$GC,31,-1.80,-487.5,1008,1955,1901,4094,1.0,0.0,1,54,7.82,1.23,-10.73,0.000,19204,0.040,1.213,1755,1522,3057,3057,4095,0,0,0,0,0,0,25.96,23.66,26.05,10.24,53.07
$GC,63,-1.80,-487.5,1754,1522,3057,4095,0.1,4.0,3,70,0.00,1.02,0.00,0.000,1030,0.000,0.027,1755,1961,3057,3057,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.50,53.54
$GC,132,-1.80,-487.5,1754,1963,3059,4095,8.7,-16.8,9,136,0.00,1.12,0.00,0.000,516,0.000,0.047,1755,1521,3059,3059,4095,0,0,0,0,0,0,26.51,25.94,26.53,10.49,52.87
$GC,372,-1.80,-487.5,1754,1521,3066,4095,46.4,-14.3,28,378,0.00,0.98,0.00,0.000,1030,0.000,0.026,1755,1943,3066,3066,4095,0,0,0,0,0,0,26.33,26.31,26.35,10.43,51.41
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,448,-0.45,0.0,1755,2135,3068,4095,56.5,-13.9,34,485,4.60,0.00,29.12,1.255,10244,0.053,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.09,25.01,23.62,10.42,51.33
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,492,1.80,487.5,2185,2135,2484,4094,60.2,0.0,38,532,7.40,0.00,28.42,1.231,11270,0.029,0.000,2901,2136,1915,1915,4094,0,0,0,0,0,0,25.75,25.94,23.37,10.30,50.35
$GC,596,1.80,487.5,2900,2135,1913,4094,49.7,14.3,47,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2136,1913,1913,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.18,49.44
$GC,668,1.80,487.5,2900,2135,1911,4094,39.5,14.2,53,671,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1712,1911,1911,4094,0,0,0,0,0,0,26.18,25.67,26.19,10.17,50.03
$GC,845,1.94,580.6,2900,1712,1906,4094,18.9,9.4,67,858,0.38,0.98,6.45,0.610,11270,0.028,0.027,2945,2121,1805,1805,4094,0,0,0,0,0,0,26.14,26.11,24.07,10.20,52.59
$GC,930,1.94,580.6,2945,2121,1803,4094,6.0,14.9,74,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2121,1802,1802,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.19,52.83
$STATE,971,end climb,FINISH_DEPTH_REACHED
$STATE,971,begin subsurface finish
$FINISH1,0.6,1.024537,74
$GC,986,0.11,74.1,2945,2130,1801,4094,0.6,11.1,78,1000,5.70,0.00,-5.40,0.000,20486,0.019,0.000,2376,2128,2403,2403,4094,0,0,0,0,0,0,26.17,24.35,26.22,10.20,53.18
$FINISH2,0.1
$STATE,1001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,220917,105451
$TT8_MAMPS,0.026215,0.161784
$HUMID,53.58
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.37,97.087
$10V_AH,9.96,82.919
$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,35.125,6.900,64.000,0.000,0.000,26.063,21.321,231.102,0.000,0.000,18.899,267.608,415.649,106.649,427.683,333.401,0.000,246.209,0.000,192.123,0.000,0.543,0.000
$DEVICE_MAMPS,98.685,1212.525,1255.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,3927,80
$CAP_FILE_SIZE,22991,0
$CFSIZE,1024409600,891650048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220917,120652,5813.531,-16940.902,5,0.8,17,8.9,1.3,194.1,11,4.9