version: 66.13
glider: 401
mission: 22
dive: 3256
start: 9 20 117 23 50 56
data:
$ID,401
$MISSION,22
$DIVE,3256
$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,18
$R_STBD_OVSHOOT,32
$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
$GPS1,200917,234120,5823.7212,-16951.1895,8,0.8,35,8.9,0.4,312.8,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-40.0
$GPS2,200917,235017,5823.7422,-16951.4355,6,0.7,30,8.9,1.4,182.1,11,4.7
$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,134.2,47711,-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,6,begin dive
$GC,13,-1.80,-487.5,230,1956,1901,4092,0.0,0.0,0,24,9.12,0.00,0.00,0.000,2049,0.091,0.000,1006,1948,1901,1901,4094,0,0,0,0,0,0,26.49,28.83,28.83,10.25,52.91
$GC,31,-1.80,-487.5,1005,1951,1901,4094,0.8,0.0,1,54,7.78,1.27,-10.45,0.000,18948,0.037,1.222,1754,1515,3057,3057,4094,0,0,0,0,0,0,26.02,23.68,26.10,10.25,53.26
$GC,212,-1.80,-487.5,1754,1514,3062,4094,22.9,-16.8,15,219,0.00,1.02,0.00,0.000,1030,0.000,0.027,1755,1952,3062,3062,4095,0,0,0,0,0,0,26.25,26.23,26.28,10.50,52.44
$GC,280,-1.80,-487.5,1754,1952,3064,4095,33.5,-14.0,21,284,0.00,1.10,0.00,0.000,260,0.000,0.045,1755,2373,3064,3064,4094,0,0,0,0,0,0,26.63,26.06,26.64,10.47,51.77
$GC,336,-1.80,-487.5,1754,2373,3065,4094,40.4,-13.2,25,342,0.00,1.10,0.00,0.000,1030,0.000,0.031,1755,1932,3065,3065,4095,0,0,0,0,0,0,26.24,26.20,26.27,10.45,51.53
$GC,406,-1.80,-487.5,1754,1932,3067,4095,50.3,-13.9,31,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1932,3068,3068,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.44,51.26
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,433,begin apogee
$GC,448,-0.45,0.0,1755,2142,3068,4094,55.4,-14.1,34,484,4.60,0.00,29.10,1.265,10244,0.054,0.000,2185,2142,2484,2484,4094,0,0,0,0,0,0,26.10,25.03,23.65,10.43,50.59
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,492,1.80,487.5,2185,2142,2484,4094,59.6,0.0,38,532,7.35,0.00,28.30,1.236,11270,0.028,0.000,2901,2142,1915,1915,4094,0,0,0,0,0,0,25.75,25.94,23.38,10.31,50.47
$GC,596,1.80,487.5,2901,2142,1914,4094,49.8,13.4,47,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1914,1914,4094,0,0,0,0,0,0,25.92,25.93,25.93,10.18,48.42
$GC,668,1.80,487.5,2901,2142,1912,4094,39.7,14.0,53,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2142,1911,1911,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.17,48.85
$GC,740,1.80,487.5,2901,2142,1909,4094,29.8,13.8,59,743,0.00,1.12,0.00,0.000,516,0.000,0.046,2901,1713,1909,1909,4094,0,0,0,0,0,0,26.32,25.80,26.34,10.16,49.17
$GC,879,1.80,487.5,2901,1713,1905,4094,13.4,11.5,70,886,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2129,1905,1905,4095,0,0,0,0,0,0,26.15,26.13,26.18,10.22,52.24
$GC,949,1.80,487.5,2901,2129,1903,4095,4.4,12.8,76,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1903,1903,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.22,52.99
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,0.7,1.024508,76
$GC,992,0.11,76.1,2901,2137,1902,4094,0.7,10.6,79,1006,5.20,0.00,-4.30,0.000,20486,0.019,0.000,2370,2138,2401,2401,4094,0,0,0,0,0,0,26.27,24.39,26.32,10.23,53.38
$FINISH2,0.4
$STATE,1007,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1007,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,200917,223756
$TT8_MAMPS,0.025466,0.163282
$HUMID,53.18
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.38,94.528
$10V_AH,9.92,81.892
$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,34.050,7.150,57.400,0.000,0.000,22.302,29.354,210.043,0.000,0.000,31.860,270.023,415.310,112.082,414.559,337.756,0.000,250.877,0.000,183.632,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1222.470,1264.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,53.730,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333564
$DATA_FILE_SIZE,3908,81
$CAP_FILE_SIZE,23809,0
$CFSIZE,1024409600,886210560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200917,235017,5823.742,-16951.436,6,0.7,30,8.9,1.4,182.1,11,4.7