version: 66.13
glider: 401
mission: 22
dive: 3214
start: 9 20 117 7 50 51
data:
$ID,401
$MISSION,22
$DIVE,3214
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,200917,074124,5830.6670,-16955.6113,5,0.9,16,8.9,0.7,249.6,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-44.2
$GPS2,200917,075012,5830.5996,-16955.5840,6,0.9,19,8.9,0.0,215.2,9,4.7
$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,138.3,60465,-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,-487.5,238,1941,1902,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.094,0.000,716,1942,1902,1902,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.23,52.79
$GC,27,-1.80,-487.5,715,1942,1902,4094,1.0,0.0,1,58,11.27,1.27,-10.60,0.000,18692,0.054,1.209,1754,2372,3057,3057,4094,0,0,0,0,0,0,25.86,23.63,25.97,10.22,52.79
$GC,230,-1.80,-487.5,1753,2372,3061,4094,25.5,-16.5,33,237,0.00,1.05,0.00,0.000,1030,0.000,0.031,1754,1952,3062,3062,4094,0,0,0,0,0,0,26.12,26.08,26.15,10.48,53.30
$GC,273,-1.80,-487.5,1753,1952,3062,4094,31.4,-13.6,39,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3062,3062,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.45,52.52
$GC,314,-1.80,-487.5,1753,1952,3064,4095,37.3,-13.9,45,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3064,3064,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.43,51.81
$GC,356,-1.80,-487.5,1753,1952,3064,4094,43.3,-14.6,51,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3065,3065,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.42,51.14
$GC,398,-1.80,-487.5,1753,1951,3066,4095,49.4,-14.5,57,405,0.00,1.08,0.00,0.000,516,0.000,0.052,1754,1526,3066,3066,4095,0,0,0,0,0,0,26.63,26.01,26.63,10.42,50.70
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,450,-0.45,0.0,1754,2139,3067,4094,55.7,-14.9,63,491,4.65,0.00,29.02,1.271,10244,0.054,0.000,2186,2139,2483,2483,4094,0,0,0,0,0,0,26.05,24.53,23.65,10.41,50.66
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,493,begin climb
$GC,499,1.80,487.5,2186,2139,2483,4094,60.2,0.0,70,541,7.45,0.00,28.55,1.247,11270,0.030,0.000,2900,2140,1915,1915,4094,0,0,0,0,0,0,25.72,25.92,23.34,10.29,49.64
$GC,577,1.80,487.5,2900,2139,1914,4094,54.0,12.9,82,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1914,1914,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.16,48.58
$GC,619,1.80,487.5,2900,2139,1913,4094,47.9,14.4,88,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1913,1913,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.16,48.97
$GC,660,1.80,487.5,2900,2139,1912,4094,42.2,13.8,94,667,0.00,1.12,0.00,0.000,516,0.000,0.046,2901,1714,1911,1911,4094,0,0,0,0,0,0,26.10,25.60,26.11,10.15,48.97
$GC,769,1.80,487.5,2900,1713,1908,4094,27.6,13.9,111,776,0.00,1.05,0.00,0.000,1030,0.000,0.030,2900,2141,1908,1908,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.15,49.72
$GC,812,1.80,487.5,2900,2140,1907,4094,21.9,13.0,117,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1907,1907,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.17,50.27
$GC,853,1.80,487.5,2900,2140,1905,4094,16.9,11.6,123,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1905,1905,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.19,51.22
$GC,895,1.80,487.5,2900,2140,1904,4095,12.1,10.9,129,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1904,1904,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.19,51.57
$GC,937,1.80,487.5,2900,2140,1903,4094,7.3,12.0,135,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1903,1903,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.20,52.32
$GC,979,1.80,487.5,2900,2140,1901,4094,2.6,11.9,141,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1901,1901,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.20,53.34
$STATE,990,end climb,FINISH_DEPTH_REACHED
$STATE,990,begin subsurface finish
$FINISH1,0.4,1.024634,67
$GC,1005,0.10,67.3,2900,2140,1901,4094,0.4,12.2,143,1018,5.25,0.00,-4.47,0.000,20486,0.021,0.000,2361,2140,2412,2412,4094,0,0,0,0,0,0,26.29,24.44,26.33,10.20,52.91
$FINISH2,0.4
$STATE,1019,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,064002
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.95
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.34,93.393
$10V_AH,9.97,81.409
$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,34.275,7.125,57.575,0.000,0.000,26.069,19.275,218.374,0.000,0.000,20.863,379.974,217.364,145.678,444.207,365.449,0.000,313.635,0.000,221.918,0.000,0.543,0.000
$DEVICE_MAMPS,94.095,1209.465,1270.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333568
$DATA_FILE_SIZE,10785,145
$CAP_FILE_SIZE,28126,0
$CFSIZE,1024409600,888274944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,075012,5830.600,-16955.584,6,0.9,19,8.9,0.0,215.2,9,4.7