version: 66.13
glider: 401
mission: 22
dive: 3218
start: 9 20 117 9 17 16
data:
$ID,401
$MISSION,22
$DIVE,3218
$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,24
$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
$GPS1,200917,085755,5829.6152,-16955.0254,7,0.9,21,8.9,0.3,214.5,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-2.4
$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,12,-1.80,-487.5,2372,1953,2407,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.020,0.000,1810,1953,2407,2407,4094,0,0,0,0,0,0,26.60,28.83,28.83,10.32,53.03
$GC,26,-1.80,-487.5,1810,1953,2407,4094,0.3,0.0,1,40,0.22,1.20,-5.90,0.000,20740,0.050,1.209,1779,2379,3055,3055,4095,0,0,0,0,0,0,26.31,23.74,26.32,10.32,52.99
$GC,136,-1.80,-487.5,1778,2379,3057,4095,13.2,-16.0,18,142,0.00,1.08,0.00,0.000,1030,0.000,0.031,1779,1947,3057,3057,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.46,53.11
$GC,179,-1.80,-487.5,1778,1946,3058,4094,20.1,-16.8,24,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1947,3058,3058,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.47,53.22
$GC,220,-1.80,-487.5,1778,1946,3059,4094,26.6,-14.7,30,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1947,3060,3060,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.46,52.95
$GC,262,-1.80,-487.5,1778,1946,3060,4094,32.1,-13.5,36,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1946,3060,3060,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.43,53.38
$GC,304,-1.80,-487.5,1778,1946,3062,4095,37.5,-13.0,42,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1946,3062,3062,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.42,51.96
$GC,346,-1.80,-487.5,1778,1946,3062,4095,43.0,-13.6,48,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1947,3062,3062,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.41,51.49
$GC,388,-1.80,-487.5,1778,1946,3064,4095,48.8,-13.8,54,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1946,3064,3064,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.41,51.14
$GC,430,-1.80,-487.5,1778,1946,3065,4094,54.2,-12.7,60,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1946,3064,3064,4095,0,0,0,0,0,0,26.70,26.72,26.71,10.40,50.74
$STATE,440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,440,begin apogee
$GC,455,-0.45,0.0,1779,2144,3065,4094,56.7,-14.0,62,491,4.35,0.00,28.85,1.274,10244,0.053,0.000,2186,2145,2484,2484,4095,0,0,0,0,0,0,26.11,25.08,23.70,10.40,50.74
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,492,begin climb
$GC,499,1.80,487.5,2186,2145,2484,4095,60.7,0.0,68,540,7.45,0.00,28.45,1.250,11270,0.029,0.000,2901,2145,1914,1914,4094,0,0,0,0,0,0,25.75,25.94,23.37,10.28,50.19
$GC,576,1.80,487.5,2901,2145,1914,4094,54.1,13.1,80,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1914,1914,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.16,48.85
$GC,619,1.80,487.5,2901,2145,1913,4094,48.4,14.8,86,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.15,49.37
$GC,660,1.80,487.5,2901,2145,1911,4094,42.6,13.2,92,674,0.00,1.12,0.00,0.000,516,0.000,0.044,2901,1712,1911,1911,4094,0,0,0,0,0,0,26.10,25.64,26.12,10.14,49.76
$GC,794,1.80,487.5,2901,1710,1908,4094,24.9,12.3,112,801,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2123,1907,1907,4094,0,0,0,0,0,0,26.03,25.99,26.06,10.15,49.72
$GC,837,1.82,497.3,2901,2122,1907,4094,20.1,10.6,118,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1906,1906,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.17,50.70
$GC,879,1.82,497.3,2901,2123,1905,4094,15.4,11.8,124,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1905,1905,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.19,52.52
$GC,921,1.82,497.3,2901,2123,1904,4095,10.5,11.5,130,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1904,1904,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.19,52.24
$GC,963,1.82,497.3,2901,2122,1903,4094,5.5,12.0,136,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1902,1902,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.19,52.71
$STATE,992,end climb,FINISH_DEPTH_REACHED
$STATE,992,begin subsurface finish
$FINISH1,1.4,1.024579,71
$GC,1007,0.11,71.1,2901,2123,1902,4094,1.4,10.9,141,1021,5.28,0.00,-4.50,0.000,20486,0.021,0.000,2375,2123,2409,2409,4095,0,0,0,0,0,0,26.20,24.37,26.26,10.20,53.18
$FINISH2,0.1
$STATE,1022,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1022,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,074523
$TT8_MAMPS,0.024717,0.106358
$HUMID,53.15
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.37,93.492
$10V_AH,10.16,81.458
$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,22.900,5.350,57.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.233,216.235,136.821,208.586,149.724,0.000,304.643,0.000,217.323,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1209.465,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.107,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333708
$DATA_FILE_SIZE,10791,143
$CAP_FILE_SIZE,25378,0
$CFSIZE,1024409600,888078336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,661.44,0x236162,1,24
$GPS,200917,085755,5829.615,-16955.025,7,0.9,21,8.9,0.3,214.5,10,4.8