version: 66.13
glider: 401
mission: 22
dive: 3203
start: 9 20 117 3 36 3
data:
$ID,401
$MISSION,22
$DIVE,3203
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,200917,031602,5832.8184,-17000.8281,7,0.8,38,8.8,0.6,4.5,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-5.7
$GPS2,200917,031602,5832.8184,-17000.8281,7,0.8,38,8.8,0.6,4.5,11,5.0
$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,136.6,66735,-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,-487.5,2378,1971,2411,4092,0.0,0.0,0,20,5.70,0.00,0.00,0.000,4097,0.020,0.000,1803,1971,2410,2410,4094,0,0,0,0,0,0,26.61,28.83,28.83,10.32,53.89
$GC,27,-1.80,-487.5,1802,1971,2411,4094,0.3,0.0,1,41,0.17,1.17,-5.95,0.000,20740,0.050,1.216,1773,2377,3055,3055,4094,0,0,0,0,0,0,26.36,23.78,26.38,10.32,53.85
$GC,195,-1.80,-487.5,1772,2377,3060,4094,21.8,-16.3,27,201,0.00,1.10,0.00,0.000,1030,0.000,0.032,1773,1939,3059,3059,4095,0,0,0,0,0,0,26.21,26.17,26.24,10.46,53.07
$GC,237,-1.80,-487.5,1772,1939,3061,4095,28.8,-17.1,33,244,0.00,1.08,0.00,0.000,516,0.000,0.054,1773,1517,3061,3061,4095,0,0,0,0,0,0,26.63,26.03,26.64,10.45,53.22
$GC,328,-1.80,-487.5,1772,1517,3063,4095,40.8,-13.1,47,334,0.00,0.93,0.00,0.000,1030,0.000,0.028,1773,1920,3063,3063,4095,0,0,0,0,0,0,26.34,26.33,26.38,10.41,52.20
$GC,371,-1.80,-487.5,1772,1921,3064,4095,46.2,-13.4,53,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1921,3064,3064,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.41,51.77
$GC,412,-1.80,-487.5,1772,1921,3065,4094,51.5,-11.9,59,419,0.00,1.15,0.00,0.000,260,0.000,0.046,1773,2362,3065,3065,4094,0,0,0,0,0,0,26.70,26.13,26.71,10.40,51.37
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,446,-0.45,0.0,1772,2106,3066,4094,55.2,-14.3,62,482,4.38,0.00,28.67,1.254,10244,0.052,0.000,2186,2106,2484,2484,4094,0,0,0,0,0,0,26.13,25.10,23.73,10.40,51.45
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,489,1.80,487.5,2186,2106,2484,4094,59.0,0.0,68,531,7.38,0.93,28.27,1.239,10756,0.028,0.044,2903,1737,1915,1915,4094,0,0,0,0,0,0,25.65,25.59,23.39,10.28,50.55
$GC,603,1.80,487.5,2902,1737,1914,4094,50.4,13.3,85,610,0.00,0.95,0.00,0.000,1030,0.000,0.030,2903,2123,1914,1914,4094,0,0,0,0,0,0,25.65,25.62,25.67,10.15,49.21
$GC,646,1.80,487.5,2903,2123,1912,4094,43.5,15.1,91,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1912,1912,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.15,49.60
$GC,688,1.80,487.5,2903,2122,1911,4094,37.6,14.6,97,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1911,1911,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.15,49.52
$GC,730,1.80,487.5,2902,2122,1910,4094,31.7,13.8,103,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1909,1909,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.14,49.92
$GC,772,1.80,487.5,2902,2123,1908,4094,25.6,15.0,109,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1908,1908,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.15,50.03
$GC,814,1.80,487.5,2902,2123,1907,4094,20.4,11.4,115,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1907,1907,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.17,50.94
$GC,855,1.80,487.5,2902,2123,1906,4094,15.3,12.0,121,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1905,1905,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.18,52.36
$GC,897,1.80,487.5,2902,2122,1905,4094,10.6,11.8,127,904,0.00,1.00,0.00,0.000,516,0.000,0.046,2903,1741,1904,1904,4094,0,0,0,0,0,0,26.49,25.96,26.51,10.19,52.40
$STATE,969,end climb,FINISH_DEPTH_REACHED
$STATE,970,begin subsurface finish
$FINISH1,1.4,1.024622,68
$GC,986,0.10,68.1,2903,2130,1901,4094,1.4,11.6,139,1000,5.32,0.00,-4.47,0.000,20486,0.024,0.000,2367,2131,2409,2409,4094,0,0,0,0,0,0,26.25,24.37,26.29,10.20,53.22
$FINISH2,0.2
$STATE,1001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,020428
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.62
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.39,93.091
$10V_AH,10.16,81.268
$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,22.950,10.300,56.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,372.523,222.525,125.484,205.349,137.706,0.000,279.670,0.000,214.534,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1215.585,1253.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.043,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333732
$DATA_FILE_SIZE,10773,141
$CAP_FILE_SIZE,24033,0
$CFSIZE,1024409600,888815616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,031602,5832.818,-17000.828,7,0.8,38,8.8,0.6,4.5,11,5.0