version: 66.13
glider: 401
mission: 22
dive: 3208
start: 9 20 117 5 30 53
data:
$ID,401
$MISSION,22
$DIVE,3208
$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,38
$R_STBD_OVSHOOT,56
$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
$GPS1,200917,052125,5832.3345,-16957.9863,5,0.8,18,8.8,0.3,144.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-36.9
$GPS2,200917,053014,5832.3257,-16957.8574,6,0.8,21,8.8,0.3,222.9,11,5.0
$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,138.3,64359,-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,6,begin dive
$GC,13,-1.80,-487.5,238,1985,1902,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,2049,0.100,0.000,709,1986,1902,1902,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.22,53.11
$GC,27,-1.80,-487.5,708,1986,1902,4094,0.9,0.0,1,58,11.10,1.05,-10.60,0.000,18692,0.044,1.209,1754,2345,3056,3056,4095,0,0,0,0,0,0,25.96,23.60,26.06,10.23,53.62
$GC,224,-1.80,-487.5,1754,2345,3060,4095,19.1,-17.6,32,231,0.00,0.95,0.00,0.000,1030,0.000,0.030,1754,1970,3060,3060,4095,0,0,0,0,0,0,26.18,26.13,26.18,10.47,52.99
$GC,267,-1.80,-487.5,1754,1970,3062,4095,26.5,-17.2,38,273,0.00,1.17,0.00,0.000,516,0.000,0.054,1754,1513,3062,3062,4095,0,0,0,0,0,0,26.55,25.92,26.55,10.47,52.71
$GC,351,-1.80,-487.5,1754,1513,3064,4095,38.6,-15.3,51,358,0.00,0.90,0.00,0.000,1030,0.000,0.026,1754,1909,3064,3064,4095,0,0,0,0,0,0,26.28,26.26,26.31,10.42,52.36
$GC,394,-1.80,-487.5,1754,1909,3065,4095,45.0,-15.0,57,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1909,3065,3065,4094,0,0,0,0,0,0,26.62,26.64,26.63,10.42,51.65
$GC,436,-1.80,-487.5,1754,1909,3065,4094,50.9,-14.7,63,442,0.00,1.17,0.00,0.000,260,0.000,0.048,1755,2357,3066,3066,4095,0,0,0,0,0,0,26.65,26.03,26.65,10.41,50.98
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,460,begin apogee
$GC,475,-0.45,0.0,1754,2106,3067,4095,55.2,-14.1,67,516,4.60,0.00,28.92,1.257,10244,0.054,0.000,2185,2106,2484,2484,4094,0,0,0,0,0,0,26.05,24.55,23.68,10.41,50.59
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,524,1.80,487.5,2185,2106,2484,4094,59.2,0.0,74,565,7.43,0.00,28.40,1.224,11270,0.029,0.000,2900,2106,1916,1916,4094,0,0,0,0,0,0,25.73,25.94,23.37,10.29,50.19
$GC,601,1.80,487.5,2900,2106,1915,4094,52.1,13.7,86,608,0.00,0.95,0.00,0.000,516,0.000,0.046,2901,1738,1915,1915,4094,0,0,0,0,0,0,25.75,25.34,25.76,10.17,48.66
$GC,734,1.80,487.5,2900,1738,1911,4094,33.5,13.8,107,740,0.00,0.93,0.00,0.000,1030,0.000,0.028,2900,2122,1911,1911,4094,0,0,0,0,0,0,25.91,25.89,25.94,10.15,49.40
$GC,776,1.80,487.5,2900,2122,1909,4094,27.7,13.0,113,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1909,1909,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.15,49.44
$GC,818,1.80,487.5,2900,2122,1908,4094,22.3,12.3,119,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1908,1908,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.17,50.74
$GC,860,1.80,487.5,2900,2122,1907,4094,17.3,11.8,125,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1907,1907,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.19,51.29
$GC,902,1.80,487.5,2900,2122,1906,4094,12.3,11.7,131,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1905,1905,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.19,51.61
$GC,944,1.80,487.5,2900,2122,1904,4094,7.6,11.2,137,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1904,1904,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.19,52.48
$GC,986,1.80,487.5,2900,2122,1903,4094,2.4,12.9,143,993,0.00,1.00,0.00,0.000,516,0.000,0.047,2901,1740,1903,1903,4094,0,0,0,0,0,0,26.53,25.98,26.54,10.20,52.55
$STATE,998,end climb,FINISH_DEPTH_REACHED
$STATE,998,begin subsurface finish
$FINISH1,0.1,1.002930,0
$GC,1014,0.00,0.0,2901,2140,1902,4094,0.1,12.2,145,1034,5.43,1.17,-5.20,0.000,20996,0.018,1.212,2352,1742,2492,2492,4094,0,0,0,0,0,0,26.22,23.72,26.27,10.20,52.63
$FINISH2,0.5
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,041748
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.03
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.37,93.226
$10V_AH,9.97,81.332
$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,34.150,10.875,57.325,0.000,0.000,24.378,19.556,218.624,0.000,0.000,22.987,388.005,226.148,145.638,449.593,359.644,0.000,313.952,0.000,225.982,0.000,0.542,0.000
$DEVICE_MAMPS,100.215,1211.760,1256.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.295,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333544
$DATA_FILE_SIZE,10833,148
$CAP_FILE_SIZE,28528,0
$CFSIZE,1024409600,888569856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,053014,5832.326,-16957.857,6,0.8,21,8.8,0.3,222.9,11,5.0