version: 66.13
glider: 401
mission: 22
dive: 3222
start: 9 20 117 10 47 8
data:
$ID,401
$MISSION,22
$DIVE,3222
$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,23
$R_STBD_OVSHOOT,28
$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,0.22
$_SM_ANGLEo,-3.7
$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,-487.5,2374,1949,2405,4092,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.023,0.000,1811,1949,2405,2405,4094,0,0,0,0,0,0,26.63,28.83,28.83,10.33,54.09
$GC,27,-1.80,-487.5,1810,1949,2405,4094,0.2,0.0,1,40,0.25,1.25,-6.00,0.000,20740,0.049,1.217,1779,2376,3055,3055,4095,0,0,0,0,0,0,26.31,23.80,26.33,10.32,53.34
$GC,118,-1.80,-487.5,1779,2376,3057,4095,8.9,-15.2,15,125,0.00,1.08,0.00,0.000,1030,0.000,0.031,1780,1945,3057,3057,4095,0,0,0,0,0,0,26.17,26.15,26.21,10.46,53.97
$GC,161,-1.80,-487.5,1779,1945,3059,4095,15.8,-16.3,21,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1945,3059,3059,4094,0,0,0,0,0,0,26.60,26.60,26.60,10.47,54.17
$GC,203,-1.80,-487.5,1779,1945,3060,4094,22.6,-16.6,27,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1945,3060,3060,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.47,53.58
$GC,244,-1.80,-487.5,1779,1945,3061,4095,28.6,-14.0,33,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1945,3061,3061,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.45,53.11
$GC,286,-1.80,-487.5,1779,1945,3062,4094,34.0,-13.1,39,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1945,3061,3061,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.42,53.11
$GC,328,-1.80,-487.5,1779,1945,3063,4095,39.6,-13.0,45,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1946,3063,3063,4094,0,0,0,0,0,0,26.67,26.69,26.68,10.42,52.40
$GC,370,-1.80,-487.5,1778,1945,3064,4094,45.2,-13.8,51,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1945,3064,3064,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.41,51.89
$GC,412,-1.80,-487.5,1779,1945,3065,4095,50.9,-13.7,57,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1945,3065,3065,4094,0,0,0,0,0,0,26.70,26.72,26.71,10.40,51.45
$STATE,441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,441,begin apogee
$GC,456,-0.45,0.0,1779,2145,3066,4095,55.7,-13.9,62,492,4.30,0.00,28.75,1.268,10244,0.052,0.000,2185,2145,2484,2484,4095,0,0,0,0,0,0,26.13,25.09,23.72,10.40,51.33
$STATE,493,end apogee,CONTROL_FINISHED_OK
$STATE,493,begin climb
$GC,499,1.80,487.5,2184,2145,2484,4095,59.6,0.0,68,541,7.47,0.00,28.38,1.242,11270,0.029,0.000,2903,2145,1917,1917,4094,0,0,0,0,0,0,25.76,25.95,23.40,10.28,50.63
$GC,577,1.80,487.5,2902,2144,1915,4094,53.8,11.7,80,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1915,1915,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.16,49.64
$GC,619,1.80,487.5,2902,2144,1913,4094,48.1,14.1,86,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1913,1913,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.16,49.84
$GC,661,1.80,487.5,2902,2144,1912,4094,42.2,14.1,92,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1912,1912,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.15,50.11
$GC,703,1.80,487.5,2902,2145,1911,4094,36.2,14.1,98,709,0.00,1.15,0.00,0.000,516,0.000,0.045,2903,1712,1911,1911,4094,0,0,0,0,0,0,26.22,25.71,26.23,10.15,49.56
$GC,811,1.80,487.5,2902,1712,1907,4094,21.7,11.8,115,818,0.00,1.00,0.00,0.000,1030,0.000,0.029,2903,2124,1907,1907,4095,0,0,0,0,0,0,26.05,26.03,26.07,10.17,51.02
$GC,854,1.80,487.5,2902,2124,1906,4095,16.9,11.0,121,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1907,1907,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.18,51.57
$GC,896,1.80,487.5,2902,2124,1905,4094,12.1,11.4,127,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1905,1905,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.19,52.55
$GC,938,1.80,487.5,2902,2124,1904,4094,7.2,11.9,133,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1904,1904,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.20,53.18
$GC,980,1.80,487.5,2902,2124,1903,4094,2.5,10.9,139,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1902,1902,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.20,53.18
$STATE,990,end climb,SURFACE_DEPTH_REACHED
$STATE,990,begin surface coast
$FINISH,0.2,1.024557
$STATE,1004,end surface coast,CONTROL_FINISHED_OK
$STATE,1004,begin surface
$SM_CCo,1115,0.00,0.000,0,0,1902,501.42
$SM_GC,1.21,27.20,0.45,0.00,0.019,0.042,0.000,238,1946,1902,-6.55,1.28,501.42,0,0,0,0,0,0,26.27,26.20,26.31
$IRIDIUM_FIX,5807.44,-16912.56,200917,095935
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.85
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.40,93.601
$10V_AH,10.16,81.508
$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,44.875,5.875,57.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,382.037,277.854,158.794,207.887,160.702,0.000,321.028,0.000,217.336,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1217.115,1268.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.191,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10795,143
$CAP_FILE_SIZE,27004,0
$CFSIZE,1024409600,887881728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,110703,5828.024,-16955.152,5,0.8,32,8.9,0.5,228.4,11,4.9