version: 66.13
glider: 401
mission: 22
dive: 3211
start: 9 20 117 6 44 37
data:
$ID,401
$MISSION,22
$DIVE,3211
$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,47
$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
$GPS1,200917,062904,5831.6235,-16956.6504,36,0.8,39,8.8,2.0,100.4,10,4.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-39.3
$GPS2,200917,064358,5831.5361,-16956.5254,7,0.8,14,8.8,0.0,199.9,10,4.9
$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,138.6,62423,-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,-487.5,238,1978,1902,4092,0.0,0.0,0,20,5.72,0.00,0.00,0.000,2049,0.093,0.000,723,1971,1901,1901,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.22,53.07
$GC,27,-1.80,-487.5,722,1978,1902,4094,0.9,0.0,1,53,11.07,1.12,-10.57,0.000,18692,0.048,1.207,1754,2358,3057,3057,4095,0,0,0,0,0,0,25.94,23.56,26.02,10.23,52.28
$GC,243,-1.80,-487.5,1753,2359,3062,4095,27.9,-15.3,35,250,0.00,1.02,0.00,0.000,1030,0.000,0.031,1754,1948,3062,3062,4094,0,0,0,0,0,0,26.15,26.13,26.18,10.47,52.04
$GC,286,-1.80,-487.5,1754,1948,3063,4094,33.5,-13.3,41,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3063,3063,4095,0,0,0,0,0,0,26.59,26.61,26.61,10.45,51.81
$GC,327,-1.80,-487.5,1753,1948,3064,4095,39.5,-14.5,47,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3064,3064,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.43,51.10
$GC,369,-1.80,-487.5,1754,1948,3066,4095,45.7,-14.8,53,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3066,3066,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.42,51.14
$GC,411,-1.80,-487.5,1754,1948,3067,4094,52.0,-15.0,59,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3067,3067,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.42,50.66
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,443,-0.45,0.0,1754,2129,3067,4095,55.5,-14.8,62,484,4.62,0.00,29.08,1.262,10244,0.054,0.000,2185,2129,2483,2483,4095,0,0,0,0,0,0,26.06,24.52,23.63,10.42,50.27
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,492,1.80,487.5,2185,2128,2483,4095,59.8,0.0,69,533,7.43,0.00,28.50,1.242,11270,0.029,0.000,2900,2129,1916,1916,4094,0,0,0,0,0,0,25.75,25.94,23.35,10.29,49.33
$GC,569,1.80,487.5,2900,2128,1914,4094,53.5,13.7,81,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1915,1915,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.17,48.38
$GC,611,1.80,487.5,2900,2128,1913,4094,47.4,14.3,87,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1913,1913,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.16,48.11
$GC,653,1.80,487.5,2900,2128,1912,4094,41.8,13.5,93,660,0.00,1.10,0.00,0.000,516,0.000,0.046,2901,1713,1912,1912,4094,0,0,0,0,0,0,26.10,25.62,26.11,10.16,48.62
$GC,756,1.80,487.5,2900,1713,1909,4094,28.2,13.3,109,762,0.00,0.98,0.00,0.000,1030,0.000,0.029,2901,2115,1908,1908,4094,0,0,0,0,0,0,25.98,25.96,26.01,10.15,49.09
$GC,798,1.80,487.5,2900,2115,1907,4094,22.9,12.8,115,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2115,1907,1907,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.18,49.88
$GC,840,1.80,487.5,2900,2115,1907,4094,18.0,11.8,121,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2115,1906,1906,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.19,51.45
$GC,882,1.80,487.5,2900,2114,1905,4094,12.9,12.5,127,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2115,1905,1905,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.19,51.65
$GC,924,1.80,487.5,2900,2115,1904,4094,7.8,12.7,133,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2115,1904,1904,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.20,52.48
$GC,966,1.80,487.5,2900,2115,1903,4094,2.8,11.3,139,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2115,1902,1902,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.20,52.59
$STATE,976,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,0.7,1.024657,66
$GC,992,0.10,65.7,2900,2115,1902,4094,0.7,12.2,141,1005,5.25,0.00,-4.53,0.000,20486,0.021,0.000,2368,2115,2414,2414,4094,0,0,0,0,0,0,26.25,24.36,26.29,10.21,52.59
$FINISH2,0.2
$STATE,1006,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1006,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,063314
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.59
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.35,93.315
$10V_AH,9.98,81.372
$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,34.100,4.675,57.575,0.000,0.000,101.673,82.129,343.025,0.000,0.000,15.703,376.271,306.019,141.374,688.675,393.137,0.000,306.622,0.000,218.967,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1207.170,1262.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333560
$DATA_FILE_SIZE,10815,143
$CAP_FILE_SIZE,30248,0
$CFSIZE,1024409600,888422400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,064358,5831.536,-16956.525,7,0.8,14,8.8,0.0,199.9,10,4.9