version: 66.13
glider: 401
mission: 22
dive: 3198
start: 9 20 117 1 32 57
data:
$ID,401
$MISSION,22
$DIVE,3198
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,200917,005414,5832.5889,-17002.2461,7,0.8,21,8.8,0.7,84.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,0.6
$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,12,-1.80,-487.5,2339,1950,2488,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,4097,0.027,0.000,1782,1950,2488,2488,4094,0,0,0,0,0,0,26.55,28.83,28.83,10.33,53.74
$GC,27,-1.80,-487.5,1781,1950,2488,4094,0.2,0.0,1,39,0.00,1.27,-5.22,0.000,16644,0.000,1.209,1781,2378,3057,3057,4095,0,0,0,0,0,0,26.54,23.73,26.55,10.33,53.54
$GC,212,-1.80,-487.5,1781,2378,3062,4095,24.2,-15.9,30,218,0.00,1.08,0.00,0.000,1030,0.000,0.031,1781,1947,3062,3062,4095,0,0,0,0,0,0,26.17,26.13,26.21,10.46,53.70
$GC,254,-1.80,-487.5,1781,1947,3063,4095,30.0,-11.6,36,261,0.00,1.08,0.00,0.000,516,0.000,0.054,1781,1524,3063,3063,4095,0,0,0,0,0,0,26.60,26.01,26.60,10.43,53.18
$GC,345,-1.80,-487.5,1781,1523,3066,4095,41.8,-13.1,50,352,0.00,1.00,0.00,0.000,1030,0.000,0.027,1782,1953,3066,3066,4095,0,0,0,0,0,0,26.32,26.29,26.34,10.41,52.16
$GC,388,-1.80,-487.5,1781,1954,3066,4095,47.2,-12.9,56,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1954,3066,3066,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.40,52.24
$GC,429,-1.80,-487.5,1781,1954,3067,4094,52.4,-12.6,62,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1953,3068,3068,4094,0,0,0,0,0,0,26.67,26.69,26.69,10.40,51.45
$STATE,447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,461,-0.45,0.0,1781,2136,3068,4094,55.6,-13.3,65,497,4.28,0.00,28.85,1.251,10244,0.053,0.000,2184,2137,2484,2484,4095,0,0,0,0,0,0,26.11,25.10,23.75,10.40,51.14
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,505,1.80,487.5,2184,2136,2484,4095,59.1,0.0,71,547,7.43,0.00,28.33,1.226,11270,0.030,0.000,2900,2136,1915,1915,4094,0,0,0,0,0,0,25.75,25.94,23.40,10.28,50.78
$GC,583,1.80,487.5,2900,2136,1915,4094,52.5,13.9,83,589,0.00,1.12,0.00,0.000,516,0.000,0.048,2901,1718,1914,1914,4094,0,0,0,0,0,0,25.75,25.33,25.76,10.15,50.00
$GC,691,1.80,487.5,2900,1718,1911,4094,37.1,13.9,100,698,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2126,1911,1911,4095,0,0,0,0,0,0,25.85,25.82,25.88,10.14,50.51
$GC,734,1.80,487.5,2900,2126,1910,4095,30.7,15.1,106,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1910,1910,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.14,50.43
$GC,776,1.80,487.5,2900,2126,1908,4094,24.7,13.8,112,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1908,1908,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.14,50.82
$GC,818,1.85,518.6,2900,2126,1907,4094,20.1,10.3,118,825,0.00,0.00,3.22,0.358,8198,0.000,0.000,2901,2126,1879,1879,4094,0,0,0,0,0,0,26.39,24.96,23.80,10.16,50.59
$GC,861,1.94,576.4,2900,2126,1878,4094,15.7,9.9,124,875,0.35,1.10,4.95,0.520,10756,0.034,0.051,2945,1711,1811,1811,4094,0,0,0,0,0,0,26.17,25.22,24.01,10.17,51.61
$STATE,964,end climb,SURFACE_DEPTH_REACHED
$STATE,970,begin surface coast
$FINISH,0.3,1.024604
$STATE,982,end surface coast,CONTROL_FINISHED_OK
$STATE,982,begin surface
$SM_CCo,1093,0.00,0.000,0,0,1806,582.99
$SM_GC,0.98,27.77,0.60,0.00,0.019,0.031,0.000,231,1975,1806,-6.59,-1.14,582.99,0,0,0,0,0,0,25.99,26.20,26.07
$IRIDIUM_FIX,5807.44,-16912.56,190917,234141
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.34
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.40,92.942
$10V_AH,10.16,81.200
$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,45.425,9.150,65.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,382.374,295.886,141.837,207.272,137.525,0.000,291.193,0.000,217.150,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1209.465,1250.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.792,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333708
$DATA_FILE_SIZE,10851,143
$CAP_FILE_SIZE,24328,0
$CFSIZE,1024409600,889061376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,015248,5832.617,-17001.932,5,1.3,50,8.8,0.4,311.5,8,3.3