version: 66.13
glider: 401
mission: 22
dive: 3216
start: 9 20 117 8 28 55
data:
$ID,401
$MISSION,22
$DIVE,3216
$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,29
$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,0.20
$_SM_ANGLEo,-2.4
$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,-487.5,2371,1947,2407,4093,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.021,0.000,1804,1947,2407,2407,4094,0,0,0,0,0,0,26.62,28.83,28.83,10.32,53.89
$GC,27,-1.80,-487.5,1804,1941,2407,4094,0.2,0.0,1,40,0.17,1.25,-5.93,0.000,20740,0.056,1.216,1778,2383,3053,3053,4095,0,0,0,0,0,0,26.34,23.79,26.35,10.32,54.25
$GC,188,-1.80,-487.5,1777,2383,3058,4095,19.8,-15.7,26,194,0.00,1.08,0.00,0.000,1030,0.000,0.032,1778,1952,3058,3058,4094,0,0,0,0,0,0,26.20,26.16,26.24,10.45,53.58
$GC,231,-1.80,-487.5,1777,1952,3059,4094,26.2,-15.1,32,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1952,3059,3059,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.45,53.66
$GC,272,-1.80,-487.5,1777,1952,3060,4094,31.7,-13.2,38,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1952,3060,3060,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.42,53.66
$GC,314,-1.80,-487.5,1777,1952,3061,4094,36.9,-12.6,44,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1952,3061,3061,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.41,52.87
$GC,356,-1.80,-487.5,1777,1952,3062,4095,42.8,-14.3,50,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1951,3062,3062,4095,0,0,0,0,0,0,26.67,26.70,26.70,10.40,52.16
$GC,398,-1.80,-487.5,1777,1951,3063,4095,48.6,-14.0,56,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1952,3063,3063,4095,0,0,0,0,0,0,26.70,26.71,26.71,10.40,52.55
$GC,439,-1.80,-487.5,1777,1951,3064,4095,54.3,-14.0,62,445,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1952,3065,3065,4093,0,0,0,0,0,0,26.70,26.72,26.72,10.40,51.61
$STATE,450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,450,begin apogee
$GC,465,-0.45,0.0,1777,2145,3065,4095,56.7,-13.6,64,501,4.35,0.00,28.80,1.278,10244,0.054,0.000,2185,2146,2484,2484,4094,0,0,0,0,0,0,26.12,25.08,23.70,10.39,51.29
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,509,1.80,487.5,2184,2145,2483,4094,60.5,0.0,70,551,7.38,1.10,28.50,1.256,10500,0.028,0.050,2903,2559,1915,1915,4094,0,0,0,0,0,0,25.61,25.56,23.37,10.27,51.37
$GC,569,1.81,491.6,2902,2558,1915,4094,56.8,10.7,79,577,0.00,1.08,2.12,0.098,9222,0.000,0.026,2902,2137,1911,1911,4094,0,0,0,0,0,0,25.38,25.36,23.12,10.15,49.48
$GC,613,1.81,491.6,2902,2136,1910,4094,51.0,13.7,85,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1910,1910,4094,0,0,0,0,0,0,25.88,25.90,25.89,10.15,49.80
$GC,655,1.81,491.6,2902,2136,1908,4094,45.1,13.8,91,662,0.00,1.10,0.00,0.000,516,0.000,0.047,2903,1713,1908,1908,4094,0,0,0,0,0,0,26.06,25.57,26.06,10.15,50.31
$GC,794,1.81,491.6,2902,1713,1905,4094,26.1,13.1,113,800,0.00,1.02,0.00,0.000,1030,0.000,0.031,2902,2131,1904,1904,4094,0,0,0,0,0,0,26.00,25.96,26.02,10.13,50.39
$GC,836,1.81,491.6,2902,2131,1903,4094,20.8,12.2,119,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1903,1903,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.16,51.10
$GC,878,1.81,491.6,2902,2131,1901,4094,15.8,11.6,125,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1901,1901,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.17,51.85
$GC,920,1.81,491.6,2902,2131,1901,4094,10.9,11.6,131,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1900,1900,4094,0,0,0,0,0,0,26.48,26.51,26.50,10.18,52.75
$GC,962,1.81,491.6,2902,2131,1899,4094,6.0,11.8,137,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1899,1899,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.19,53.26
$STATE,991,end climb,SURFACE_DEPTH_REACHED
$STATE,991,begin surface coast
$FINISH,0.5,1.024590
$STATE,1004,end surface coast,CONTROL_FINISHED_OK
$STATE,1004,begin surface
$SM_CCo,1114,0.00,0.000,0,0,1897,505.72
$SM_GC,1.11,27.20,0.45,0.00,0.019,0.037,0.000,239,1950,1897,-6.55,1.55,505.72,0,0,0,0,0,0,26.27,26.22,26.30
$IRIDIUM_FIX,5807.44,-16912.56,200917,064002
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.34
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.12,93.434
$10V_AH,10.15,81.430
$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,44.750,8.000,59.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,385.566,284.831,151.985,208.800,155.005,0.000,310.083,0.000,218.698,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,1216.350,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.137,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10862,144
$CAP_FILE_SIZE,26272,0
$CFSIZE,1024409600,888176640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,084856,5829.681,-16954.990,5,1.0,39,8.9,0.2,262.3,9,4.5