version: 66.13
glider: 401
mission: 22
dive: 3217
start: 9 20 117 8 58 34
data:
$ID,401
$MISSION,22
$DIVE,3217
$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,26
$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
$GPS1,200917,084856,5829.6807,-16954.9902,5,1.0,39,8.9,0.2,262.3,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-41.9
$GPS2,200917,085755,5829.6152,-16955.0254,7,0.9,21,8.9,0.3,214.5,10,4.8
$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,137.8,58638,-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,-487.5,239,1949,1897,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.104,0.000,706,1947,1896,1896,4095,0,0,0,0,0,0,26.45,28.83,28.83,10.23,53.11
$GC,27,-1.80,-487.5,705,1948,1897,4095,1.1,0.0,1,58,11.10,1.25,-10.65,0.000,18692,0.041,1.207,1754,2376,3055,3055,4095,0,0,0,0,0,0,25.97,23.63,26.06,10.23,52.75
$GC,188,-1.80,-487.5,1754,2376,3060,4095,19.4,-17.4,26,195,0.00,1.08,0.00,0.000,1030,0.000,0.031,1754,1945,3059,3059,4095,0,0,0,0,0,0,26.08,26.04,26.10,10.48,52.55
$GC,231,-1.80,-487.5,1754,1945,3060,4095,26.8,-16.4,32,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1945,3061,3061,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.47,52.16
$GC,273,-1.80,-487.5,1754,1945,3062,4095,32.8,-13.9,38,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3061,3061,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.44,51.73
$GC,314,-1.80,-487.5,1754,1945,3063,4094,38.7,-14.2,44,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1945,3063,3063,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.43,51.49
$GC,356,-1.80,-487.5,1754,1945,3064,4095,44.7,-13.8,50,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1945,3065,3065,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.42,51.49
$GC,398,-1.80,-487.5,1754,1945,3065,4095,50.7,-15.2,56,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1945,3065,3065,4095,0,0,0,0,0,0,26.63,26.64,26.63,10.41,50.39
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,436,-0.45,0.0,1754,2145,3066,4095,55.2,-14.8,60,477,4.60,0.00,28.83,1.267,10244,0.054,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.03,25.01,23.64,10.42,50.31
$STATE,478,end apogee,CONTROL_FINISHED_OK
$STATE,478,begin climb
$GC,485,1.80,487.5,2184,2145,2484,4094,59.7,0.0,67,526,7.45,0.00,28.48,1.244,11270,0.029,0.000,2900,2145,1916,1916,4094,0,0,0,0,0,0,25.72,25.92,23.34,10.29,49.52
$GC,563,1.80,487.5,2899,2145,1915,4094,53.9,12.3,79,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1914,1914,4095,0,0,0,0,0,0,25.73,25.75,25.75,10.17,48.34
$GC,605,1.80,487.5,2899,2145,1913,4095,48.1,13.9,85,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1913,1913,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.16,48.34
$GC,646,1.80,487.5,2899,2144,1912,4094,42.4,13.1,91,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1912,1912,4095,0,0,0,0,0,0,26.10,26.11,26.11,10.16,48.50
$GC,688,1.80,487.5,2899,2145,1910,4095,36.5,14.6,97,695,0.00,1.15,0.00,0.000,516,0.000,0.047,2900,1713,1911,1911,4094,0,0,0,0,0,0,26.21,25.70,26.22,10.16,48.62
$GC,785,1.80,487.5,2899,1713,1908,4094,23.7,12.6,112,791,0.00,1.00,0.00,0.000,1030,0.000,0.030,2899,2123,1907,1907,4094,0,0,0,0,0,0,26.02,25.98,26.05,10.17,49.72
$GC,827,1.80,487.5,2899,2123,1906,4094,18.7,11.3,118,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1906,1906,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.18,50.70
$GC,869,1.80,487.5,2899,2123,1904,4094,13.9,11.6,124,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1905,1905,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.19,52.08
$GC,911,1.80,487.5,2899,2123,1904,4094,9.0,12.0,130,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1904,1904,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.20,51.96
$GC,953,1.80,487.5,2899,2123,1903,4094,4.0,11.6,136,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1902,1902,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.21,52.95
$STATE,963,end climb,FINISH_DEPTH_REACHED
$STATE,964,begin subsurface finish
$FINISH1,2.0,1.024586,71
$GC,979,0.11,70.6,2899,2125,1902,4094,2.0,11.8,138,992,5.20,0.00,-4.05,0.000,20486,0.018,0.000,2373,2125,2407,2407,4094,0,0,0,0,0,0,26.22,24.35,26.27,10.21,53.22
$FINISH2,0.6
$STATE,993,end subsurface finish,CONTROL_FINISHED_OK
$STATE,993,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,074523
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.99
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.34,93.471
$10V_AH,9.97,81.448
$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,34.000,4.975,57.300,0.000,0.000,22.537,29.805,220.699,0.000,0.000,22.223,367.524,202.663,148.156,447.453,371.491,0.000,314.818,0.000,214.759,0.000,0.543,0.000
$DEVICE_MAMPS,104.040,1207.170,1266.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333564
$DATA_FILE_SIZE,10782,140
$CAP_FILE_SIZE,28238,0
$CFSIZE,1024409600,888127488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,085755,5829.615,-16955.025,7,0.9,21,8.9,0.3,214.5,10,4.8