version: 66.13
glider: 401
mission: 22
dive: 3215
start: 9 20 117 8 9 59
data:
$ID,401
$MISSION,22
$DIVE,3215
$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,27
$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
$GPS1,200917,075012,5830.5996,-16955.5840,6,0.9,19,8.9,0.0,215.2,9,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-1.0
$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,12,-1.80,-487.5,2361,1944,2411,4092,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.023,0.000,1799,1945,2411,2411,4095,0,0,0,0,0,0,26.62,28.83,28.83,10.32,52.91
$GC,26,-1.80,-487.5,1799,1944,2411,4095,0.1,0.0,1,40,0.15,1.23,-5.90,0.000,20740,0.062,1.216,1778,2377,3054,3054,4095,0,0,0,0,0,0,26.34,23.77,26.36,10.32,53.34
$GC,136,-1.80,-487.5,1778,2377,3056,4095,12.1,-15.6,18,142,0.00,1.08,0.00,0.000,1030,0.000,0.032,1778,1947,3057,3057,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.46,53.18
$GC,179,-1.80,-487.5,1778,1946,3058,4095,19.2,-16.9,24,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1947,3058,3058,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.46,53.34
$GC,220,-1.80,-487.5,1778,1946,3058,4094,26.0,-16.2,30,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1947,3059,3059,4095,0,0,0,0,0,0,26.63,26.63,26.63,10.46,53.30
$GC,262,-1.80,-487.5,1778,1946,3060,4095,31.6,-13.3,36,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1946,3060,3060,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.43,53.26
$GC,304,-1.80,-487.5,1778,1946,3061,4095,37.2,-13.7,42,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1947,3061,3061,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.42,52.16
$GC,346,-1.80,-487.5,1778,1946,3062,4094,42.4,-12.9,48,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1947,3062,3062,4095,0,0,0,0,0,0,26.67,26.69,26.69,10.41,51.65
$GC,388,-1.80,-487.5,1778,1947,3063,4095,48.1,-14.2,54,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1947,3063,3063,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.41,51.33
$GC,430,-1.80,-487.5,1778,1946,3064,4095,53.4,-12.1,60,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1947,3064,3064,4094,0,0,0,0,0,0,26.70,26.72,26.72,10.40,51.26
$STATE,440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,441,begin apogee
$GC,455,-0.45,0.0,1778,2147,3064,4094,55.6,-13.0,62,491,4.32,0.00,28.80,1.273,10244,0.051,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.13,25.08,23.70,10.40,51.02
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,492,begin climb
$GC,499,1.80,487.5,2185,2146,2484,4094,59.5,0.0,68,540,7.45,0.00,28.48,1.242,11270,0.029,0.000,2900,2147,1916,1916,4094,0,0,0,0,0,0,25.75,25.94,23.37,10.28,50.70
$GC,577,1.80,487.5,2900,2146,1914,4094,53.4,12.8,80,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,1914,1914,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.16,49.48
$GC,619,1.80,487.5,2900,2146,1913,4094,47.7,12.9,86,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.15,49.44
$GC,660,1.80,487.5,2900,2146,1912,4094,42.0,13.9,92,667,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1715,1912,1912,4094,0,0,0,0,0,0,26.10,25.62,26.12,10.15,49.17
$GC,787,1.80,487.5,2900,1715,1908,4094,25.1,12.5,112,794,0.00,1.00,0.00,0.000,1030,0.000,0.031,2901,2123,1908,1908,4094,0,0,0,0,0,0,26.00,25.97,26.03,10.14,49.92
$GC,830,1.80,487.5,2900,2122,1907,4094,20.2,11.1,118,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1907,1907,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.17,50.55
$GC,872,1.80,487.5,2900,2122,1906,4094,15.3,11.9,124,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1905,1905,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.18,52.55
$GC,913,1.80,487.5,2900,2122,1905,4094,10.4,11.9,130,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1905,1905,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.19,52.87
$GC,955,1.80,487.5,2900,2122,1903,4094,5.3,12.0,136,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1903,1903,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.20,53.30
$STATE,978,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,1.8,1.024604,69
$GC,994,0.10,69.4,2900,2123,1902,4095,1.8,12.0,140,1007,5.22,0.00,-4.50,0.000,20486,0.021,0.000,2372,2124,2408,2408,4094,0,0,0,0,0,0,26.25,24.37,26.29,10.20,53.42
$FINISH2,0.3
$STATE,1008,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1008,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,064002
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.54
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.37,93.413
$10V_AH,10.17,81.420
$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,22.800,5.450,57.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,371.565,214.116,135.666,206.831,143.626,0.000,296.636,0.000,215.841,0.000,0.542,0.000
$DEVICE_MAMPS,61.965,1215.585,1272.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333688
$DATA_FILE_SIZE,10760,142
$CAP_FILE_SIZE,24896,0
$CFSIZE,1024409600,888225792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,075012,5830.600,-16955.584,6,0.9,19,8.9,0.0,215.2,9,4.7