version: 66.13
glider: 401
mission: 22
dive: 3226
start: 9 20 117 12 30 12
data:
$ID,401
$MISSION,22
$DIVE,3226
$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,30
$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
$GPS1,200917,121602,5827.5820,-16955.4355,5,0.7,14,8.8,0.0,265.8,12,4.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-38.0
$GPS2,200917,122932,5827.5869,-16955.6484,6,0.7,16,8.8,0.5,269.9,11,5.0
$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,135.3,55893,-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,-487.5,240,1948,1901,4092,0.0,0.0,0,20,5.57,0.00,0.00,0.000,2049,0.102,0.000,706,1939,1901,1901,4094,0,0,0,0,0,0,26.43,28.83,28.83,10.25,52.20
$GC,27,-1.80,-487.5,705,1946,1901,4094,1.1,0.0,1,58,11.12,1.23,-10.57,0.000,18948,0.043,1.225,1755,1527,3057,3057,4094,0,0,0,0,0,0,25.98,23.59,26.06,10.25,52.87
$GC,284,-1.80,-487.5,1754,1526,3062,4094,25.3,-16.9,42,291,0.00,1.00,0.00,0.000,1030,0.000,0.027,1755,1954,3062,3062,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.49,52.00
$GC,327,-1.80,-487.5,1755,1954,3063,4095,31.2,-13.8,48,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1955,3063,3063,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.47,51.77
$GC,369,-1.80,-487.5,1755,1956,3064,4094,37.1,-14.2,54,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3064,3064,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.44,51.14
$GC,410,-1.80,-487.5,1755,1956,3066,4095,42.8,-13.6,60,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3066,3066,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.44,50.74
$GC,452,-1.80,-487.5,1755,1955,3067,4095,48.7,-14.2,66,458,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3067,3067,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.43,50.19
$GC,494,-1.80,-487.5,1754,1956,3067,4095,54.5,-13.8,72,500,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3067,3067,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.43,49.92
$STATE,505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,505,begin apogee
$GC,519,-0.45,0.0,1755,2145,3068,4095,56.8,-13.4,74,560,4.57,0.00,29.05,1.271,10244,0.054,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.07,24.53,23.63,10.43,49.56
$STATE,561,end apogee,CONTROL_FINISHED_OK
$STATE,561,begin climb
$GC,568,1.80,487.5,2186,2145,2484,4094,60.7,0.0,81,610,7.40,0.00,28.42,1.247,11270,0.029,0.000,2901,2145,1916,1916,4094,0,0,0,0,0,0,25.75,25.94,23.34,10.31,49.56
$GC,646,1.80,487.5,2900,2145,1915,4094,54.1,13.0,93,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1914,1914,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.18,48.38
$GC,688,1.80,487.5,2900,2145,1913,4094,48.1,14.4,99,694,0.00,1.15,0.00,0.000,516,0.000,0.043,2901,1713,1912,1912,4094,0,0,0,0,0,0,25.96,25.51,25.98,10.17,48.89
$GC,862,1.80,487.5,2900,1713,1908,4094,24.7,12.8,126,869,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2125,1907,1907,4094,0,0,0,0,0,0,26.02,26.00,26.05,10.17,49.13
$GC,905,1.80,487.5,2900,2125,1907,4094,18.9,11.7,132,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1907,1907,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.20,50.82
$GC,946,1.80,487.5,2900,2124,1905,4094,14.0,11.5,138,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1905,1905,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.20,51.89
$GC,988,1.80,487.5,2900,2125,1904,4094,9.0,12.1,144,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1904,1904,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.21,52.04
$GC,1030,1.80,487.5,2900,2125,1903,4095,3.7,13.3,150,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1902,1902,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.22,52.24
$STATE,1041,end climb,FINISH_DEPTH_REACHED
$STATE,1041,begin subsurface finish
$FINISH1,1.7,1.024563,72
$GC,1056,0.11,72.2,2900,2125,1902,4094,1.7,12.2,152,1070,5.22,1.20,-4.45,0.000,20996,0.021,1.213,2374,1717,2405,2405,4095,0,0,0,0,0,0,26.20,23.75,26.25,10.22,52.48
$FINISH2,0.1
$STATE,1071,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1072,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,121958
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.83
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.34,93.727
$10V_AH,9.98,81.566
$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,33.900,6.025,57.475,0.000,0.000,78.626,48.939,316.512,0.000,0.000,18.901,399.404,331.761,141.141,621.497,393.920,0.000,311.566,0.000,234.275,0.000,0.542,0.000
$DEVICE_MAMPS,101.745,1224.765,1271.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.562,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333544
$DATA_FILE_SIZE,10877,154
$CAP_FILE_SIZE,30123,0
$CFSIZE,1024409600,887685120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,122932,5827.587,-16955.648,6,0.7,16,8.8,0.5,269.9,11,5.0