version: 66.13
glider: 401
mission: 22
dive: 3221
start: 9 20 117 10 27 57
data:
$ID,401
$MISSION,22
$DIVE,3221
$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,50
$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
$GPS1,200917,100822,5828.6904,-16955.0000,7,0.9,18,8.9,0.6,274.3,11,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-2.3
$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,-487.5,2365,1985,2407,4092,0.0,0.0,0,20,5.68,0.00,0.00,0.000,4097,0.023,0.000,1800,1986,2406,2406,4094,0,0,0,0,0,0,26.61,28.83,28.83,10.33,52.87
$GC,27,-1.80,-487.5,1799,1986,2406,4094,0.1,0.0,1,40,0.12,1.05,-5.95,0.000,20740,0.067,1.210,1775,2354,3055,3055,4095,0,0,0,0,0,0,26.36,23.72,26.39,10.33,53.42
$GC,182,-1.80,-487.5,1775,2354,3059,4095,20.3,-16.3,25,188,0.00,1.00,0.00,0.000,1030,0.000,0.031,1775,1953,3059,3059,4094,0,0,0,0,0,0,26.21,26.17,26.24,10.48,53.07
$GC,224,-1.80,-487.5,1775,1953,3060,4094,26.7,-14.2,31,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1953,3060,3060,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.46,52.63
$GC,266,-1.80,-487.5,1775,1953,3061,4094,32.4,-13.3,37,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1953,3061,3061,4094,0,0,0,0,0,0,26.65,26.65,26.65,10.43,52.63
$GC,308,-1.80,-487.5,1775,1953,3062,4094,37.8,-13.0,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1953,3062,3062,4094,0,0,0,0,0,0,26.66,26.67,26.67,10.42,52.16
$GC,350,-1.80,-487.5,1775,1953,3063,4094,43.4,-12.9,49,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1953,3063,3063,4095,0,0,0,0,0,0,26.67,26.70,26.69,10.42,52.16
$GC,392,-1.80,-487.5,1775,1953,3064,4095,48.9,-13.6,55,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1953,3064,3064,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.41,51.29
$GC,434,-1.80,-487.5,1775,1953,3065,4095,54.3,-13.1,61,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1953,3066,3066,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.41,50.74
$STATE,444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,444,begin apogee
$GC,459,-0.45,0.0,1775,2124,3066,4094,56.7,-13.7,63,495,4.38,0.00,28.92,1.285,10244,0.054,0.000,2185,2124,2484,2484,4094,0,0,0,0,0,0,26.11,25.08,23.68,10.40,50.70
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,503,1.80,487.5,2185,2124,2484,4094,60.9,0.0,69,544,7.45,0.00,28.50,1.256,11270,0.029,0.000,2902,2124,1915,1915,4094,0,0,0,0,0,0,25.74,25.94,23.36,10.28,50.19
$GC,580,1.80,487.5,2902,2124,1915,4094,54.8,12.2,81,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1914,1914,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.16,49.56
$GC,622,1.80,487.5,2902,2124,1914,4094,49.2,13.5,87,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1913,1913,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.16,49.05
$GC,664,1.80,487.5,2902,2124,1912,4094,43.4,13.5,93,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1912,1912,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.15,49.48
$GC,706,1.80,487.5,2903,2124,1911,4094,37.7,13.5,99,712,0.00,1.10,0.00,0.000,516,0.000,0.046,2903,1710,1911,1911,4094,0,0,0,0,0,0,26.22,25.71,26.22,10.15,49.21
$GC,814,1.80,487.5,2901,1709,1907,4094,23.1,13.5,116,821,0.00,1.00,0.00,0.000,1030,0.000,0.030,2903,2121,1907,1907,4094,0,0,0,0,0,0,26.05,26.01,26.07,10.16,50.07
$GC,857,1.80,487.5,2902,2121,1906,4094,18.0,11.6,122,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2121,1906,1906,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.18,50.78
$GC,899,1.80,487.5,2902,2121,1905,4094,13.0,12.0,128,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,1905,1905,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.19,52.44
$GC,941,1.80,487.5,2902,2120,1903,4094,7.9,12.3,134,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1903,1903,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.20,52.59
$GC,983,1.80,487.5,2901,2121,1902,4094,3.0,12.1,140,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,1902,1902,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.20,53.18
$STATE,993,end climb,FINISH_DEPTH_REACHED
$STATE,993,begin subsurface finish
$FINISH1,1.0,1.024560,72
$GC,1009,0.11,72.4,2902,2121,1901,4094,1.0,11.8,142,1022,5.25,0.00,-4.45,0.000,20486,0.022,0.000,2374,2121,2405,2405,4094,0,0,0,0,0,0,26.24,24.37,26.29,10.20,53.07
$FINISH2,0.2
$STATE,1023,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1023,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,095935
$TT8_MAMPS,0.025466,0.105609
$HUMID,53.15
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.36,93.580
$10V_AH,10.17,81.498
$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,22.875,5.175,57.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.086,215.622,135.463,209.749,149.388,0.000,297.512,0.000,218.719,0.000,0.543,0.000
$DEVICE_MAMPS,66.555,1210.230,1285.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10837,144
$CAP_FILE_SIZE,24939,0
$CFSIZE,1024409600,887930880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,100822,5828.690,-16955.000,7,0.9,18,8.9,0.6,274.3,11,4.7