version: 66.13
glider: 401
mission: 22
dive: 3196
start: 9 20 117 0 54 53
data:
$ID,401
$MISSION,22
$DIVE,3196
$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,41
$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
$GPS1,200917,004526,5832.5439,-17002.2285,5,0.7,17,8.8,0.5,235.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-39.3
$GPS2,200917,005414,5832.5889,-17002.2461,7,0.8,21,8.8,0.7,84.8,11,5.0
$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,135.4,67188,-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,-487.5,239,1980,1803,4092,0.0,0.0,0,20,5.70,0.00,0.00,0.000,2049,0.096,0.000,721,1981,1803,1803,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.20,52.99
$GC,27,-1.80,-487.5,721,1980,1803,4094,1.0,0.0,1,58,11.12,1.10,-11.38,0.000,18692,0.050,1.196,1754,2379,3056,3056,4095,0,0,0,0,0,0,25.80,23.59,25.94,10.21,53.07
$GC,224,-1.80,-487.5,1753,2379,3061,4095,26.1,-17.9,32,231,0.00,1.08,0.00,0.000,1030,0.000,0.029,1753,1951,3062,3062,4094,0,0,0,0,0,0,26.14,26.12,26.17,10.48,52.83
$GC,267,-1.80,-487.5,1753,1950,3062,4094,32.9,-14.0,38,273,0.00,1.08,0.00,0.000,516,0.000,0.050,1753,1521,3062,3062,4094,0,0,0,0,0,0,26.55,25.96,26.57,10.45,52.04
$GC,333,-1.80,-487.5,1753,1521,3064,4094,42.4,-14.2,48,340,0.00,1.00,0.00,0.000,1030,0.000,0.027,1753,1949,3064,3064,4095,0,0,0,0,0,0,26.26,26.24,26.29,10.43,51.14
$GC,376,-1.80,-487.5,1753,1949,3065,4095,48.2,-13.4,54,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3065,3065,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.42,51.14
$GC,418,-1.80,-487.5,1752,1949,3066,4095,54.1,-13.9,60,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3066,3066,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.41,50.74
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,443,-0.45,0.0,1753,2145,3067,4095,56.4,-14.2,62,484,4.62,0.00,28.92,1.261,10244,0.054,0.000,2185,2145,2484,2484,4095,0,0,0,0,0,0,26.05,24.56,23.65,10.41,50.94
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,492,1.80,487.5,2185,2145,2484,4095,60.3,0.0,69,533,7.40,0.00,28.45,1.235,11270,0.028,0.000,2901,2145,1915,1915,4094,0,0,0,0,0,0,25.73,25.93,23.37,10.29,49.68
$GC,569,1.80,487.5,2900,2145,1914,4094,53.5,13.9,81,576,0.00,1.17,0.00,0.000,516,0.000,0.045,2900,1710,1914,1914,4094,0,0,0,0,0,0,25.75,25.33,25.76,10.17,48.81
$GC,702,1.80,487.5,2900,1710,1910,4094,34.9,14.0,102,708,0.00,1.00,0.00,0.000,1030,0.000,0.030,2900,2119,1910,1910,4094,0,0,0,0,0,0,25.89,25.86,25.93,10.15,49.92
$GC,745,1.80,487.5,2900,2118,1908,4094,29.1,13.8,108,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1908,1908,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.15,49.37
$GC,786,1.80,487.5,2900,2118,1907,4094,23.8,11.3,114,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2119,1907,1907,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.16,49.76
$GC,828,1.80,487.5,2900,2118,1905,4094,19.2,10.9,120,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1906,1906,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.18,50.66
$GC,870,1.80,487.5,2900,2118,1905,4094,14.5,10.9,126,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1905,1905,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.19,51.29
$GC,912,1.80,487.5,2900,2118,1904,4095,9.8,11.0,132,919,0.00,1.08,0.00,0.000,516,0.000,0.049,2900,1712,1903,1903,4094,0,0,0,0,0,0,26.50,25.94,26.51,10.19,52.08
$STATE,972,end climb,FINISH_DEPTH_REACHED
$STATE,973,begin subsurface finish
$FINISH1,1.8,1.024610,69
$GC,989,0.10,68.9,2900,2153,1901,4094,1.8,11.8,142,1003,5.25,0.00,-4.50,0.000,20486,0.021,0.000,2371,2153,2411,2411,4094,0,0,0,0,0,0,26.26,24.37,26.30,10.21,52.79
$FINISH2,0.2
$STATE,1004,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1004,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,234141
$TT8_MAMPS,0.025466,0.163282
$HUMID,53.78
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.37,92.899
$10V_AH,9.97,81.179
$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,34.100,9.050,57.375,0.000,0.000,25.265,29.168,206.049,0.000,0.000,22.388,378.765,223.517,138.042,453.004,343.296,0.000,300.371,0.000,220.130,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1196.460,1260.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333564
$DATA_FILE_SIZE,10799,144
$CAP_FILE_SIZE,27348,0
$CFSIZE,1024409600,889159680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,005414,5832.589,-17002.246,7,0.8,21,8.8,0.7,84.8,11,5.0