version: 66.13
glider: 401
mission: 22
dive: 3220
start: 9 20 117 10 9 1
data:
$ID,401
$MISSION,22
$DIVE,3220
$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,32
$R_STBD_OVSHOOT,20
$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
$GPS1,200917,095532,5828.7573,-16954.8672,4,1.0,16,8.9,0.0,239.4,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-40.8
$GPS2,200917,100822,5828.6904,-16955.0000,7,0.9,18,8.9,0.6,274.3,11,4.7
$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,136.9,57200,-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,-487.5,237,1943,1902,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.096,0.000,713,1944,1902,1902,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.24,52.28
$GC,27,-1.80,-487.5,713,1943,1902,4094,0.9,0.0,1,58,11.15,1.30,-10.40,0.000,18692,0.047,1.209,1755,2375,3056,3056,4095,0,0,0,0,0,0,25.96,23.58,26.03,10.24,52.36
$GC,181,-1.80,-487.5,1754,2375,3060,4095,18.8,-16.3,25,188,0.00,1.05,0.00,0.000,1030,0.000,0.030,1755,1956,3060,3060,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.49,52.36
$GC,224,-1.80,-487.5,1755,1955,3061,4094,25.6,-16.0,31,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3061,3061,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.49,51.77
$GC,266,-1.80,-487.5,1754,1956,3062,4095,31.8,-15.3,37,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3062,3062,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.46,51.37
$GC,308,-1.80,-487.5,1755,1955,3063,4095,37.6,-13.6,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3063,3063,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.44,51.69
$GC,349,-1.80,-487.5,1755,1955,3064,4094,43.6,-14.2,49,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3065,3065,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.43,50.35
$GC,391,-1.80,-487.5,1754,1955,3066,4094,49.7,-14.4,55,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3066,3066,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.43,50.19
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,442,-0.45,0.0,1755,2155,3067,4095,55.7,-14.7,61,482,4.60,0.00,28.95,1.280,10244,0.054,0.000,2185,2156,2484,2484,4095,0,0,0,0,0,0,26.03,24.51,23.62,10.42,50.03
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,484,begin climb
$GC,490,1.80,487.5,2185,2156,2485,4095,59.9,0.0,68,532,7.43,1.08,28.60,1.253,10500,0.029,0.051,2903,2556,1916,1916,4094,0,0,0,0,0,0,25.56,25.50,23.34,10.30,49.84
$GC,562,1.80,487.5,2902,2556,1915,4094,54.3,13.3,79,569,0.00,1.08,0.00,0.000,1030,0.000,0.028,2903,2138,1914,1914,4094,0,0,0,0,0,0,25.42,25.38,25.44,10.17,48.11
$GC,605,1.80,487.5,2902,2137,1913,4094,48.2,14.1,85,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1913,1913,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.17,48.14
$GC,647,1.80,487.5,2902,2138,1912,4094,42.1,15.3,91,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2138,1912,1912,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.17,48.14
$GC,689,1.80,487.5,2902,2137,1911,4094,36.2,13.8,97,695,0.00,1.10,0.00,0.000,516,0.000,0.048,2903,1714,1911,1911,4094,0,0,0,0,0,0,26.20,25.68,26.20,10.16,48.38
$GC,797,1.80,487.5,2902,1714,1907,4094,22.3,11.9,114,804,0.00,0.98,0.00,0.000,1030,0.000,0.029,2902,2116,1907,1907,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.17,50.03
$GC,840,1.80,487.5,2902,2116,1906,4094,17.6,11.1,120,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2116,1906,1906,4094,0,0,0,0,0,0,26.43,26.45,26.44,10.20,50.47
$GC,882,1.80,487.5,2902,2116,1905,4094,12.8,11.6,126,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2116,1905,1905,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.20,51.45
$GC,924,1.80,487.5,2902,2116,1903,4094,7.5,12.8,132,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2116,1903,1903,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.21,51.89
$GC,966,1.80,487.8,2902,2116,1902,4094,2.8,10.8,138,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2117,1902,1902,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.22,52.75
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,0.7,1.024565,72
$GC,992,0.11,72.1,2902,2116,1902,4094,0.7,11.8,140,1006,5.25,1.17,-4.22,0.000,20996,0.020,1.210,2365,1713,2407,2407,4094,0,0,0,0,0,0,26.27,23.74,26.31,10.22,52.55
$FINISH2,0.5
$STATE,1007,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1007,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,095935
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.83
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.34,93.559
$10V_AH,9.98,81.487
$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,34.075,8.250,57.550,0.000,0.000,48.419,57.712,338.667,0.000,0.000,19.445,374.734,252.322,148.601,608.148,398.846,0.000,316.508,0.000,217.588,0.000,0.542,0.000
$DEVICE_MAMPS,95.625,1210.230,1279.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.076,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333496
$DATA_FILE_SIZE,10837,142
$CAP_FILE_SIZE,30946,0
$CFSIZE,1024409600,887980032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,100822,5828.690,-16955.000,7,0.9,18,8.9,0.6,274.3,11,4.7