version: 66.13
glider: 401
mission: 22
dive: 3116
start: 9 18 117 17 48 44
data:
$ID,401
$MISSION,22
$DIVE,3116
$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,25
$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
$GPS1,180917,172850,5845.1963,-17013.5801,10,1.1,55,8.7,0.6,84.7,8,3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-3.1
$GPS2,180917,172850,5845.1963,-17013.5801,10,1.1,55,8.7,0.6,84.7,8,3.1
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,140.9,30218,-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,-487.5,2371,1951,2405,4092,0.0,0.0,0,24,5.97,0.00,-2.40,0.000,20482,0.024,0.000,1775,1952,2669,2669,4094,0,0,0,0,0,0,26.29,28.83,26.34,10.33,53.46
$GC,31,-1.80,-487.5,1774,1951,2669,4094,0.2,0.0,1,39,0.00,0.00,-3.28,0.000,16390,0.000,0.000,1774,1952,3059,3059,4095,0,0,0,0,0,0,26.60,25.64,26.58,10.38,52.87
$GC,79,-1.80,-487.5,1774,1951,3060,4095,5.7,-15.2,7,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1952,3061,3061,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.47,53.54
$GC,128,-1.80,-487.5,1774,1951,3061,4094,14.2,-17.2,13,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1952,3062,3062,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.47,52.95
$GC,177,-1.80,-487.5,1774,1952,3063,4095,22.4,-17.5,19,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1952,3064,3064,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.48,53.07
$GC,226,-1.80,-487.5,1774,1951,3064,4095,29.8,-13.3,25,235,0.00,1.12,0.00,0.000,260,0.000,0.044,1774,2373,3065,3065,4095,0,0,0,0,0,0,26.64,26.10,26.65,10.45,52.63
$GC,315,-1.80,-487.5,1774,2373,3067,4095,41.0,-12.8,37,324,0.00,1.05,0.00,0.000,1030,0.000,0.031,1774,1949,3067,3067,4094,0,0,0,0,0,0,26.27,26.23,26.29,10.42,51.18
$GC,365,-1.80,-487.5,1774,1949,3068,4094,47.6,-13.5,43,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1949,3068,3068,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.41,50.82
$GC,414,-1.80,-487.5,1774,1949,3069,4095,54.2,-13.4,49,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3069,3069,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.41,50.63
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,447,-0.45,0.0,1774,2149,3070,4094,57.4,-13.7,51,489,4.35,0.00,29.08,1.294,10244,0.052,0.000,2186,2149,2484,2484,4094,0,0,0,0,0,0,26.15,24.61,23.72,10.41,50.03
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,496,1.80,487.5,2186,2149,2484,4094,62.0,0.0,56,540,7.43,1.10,28.52,1.264,10500,0.028,0.051,2901,2560,1915,1915,4094,0,0,0,0,0,0,25.61,25.53,23.38,10.28,50.11
$GC,555,1.93,575.0,2901,2561,1915,4094,58.8,9.5,62,566,0.35,1.10,6.70,0.923,11270,0.024,0.028,2944,2131,1814,1814,4095,0,0,0,0,0,0,25.36,25.32,23.34,10.16,48.42
$GC,609,1.93,575.0,2944,2130,1812,4095,51.5,14.7,68,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2131,1812,1812,4094,0,0,0,0,0,0,25.84,25.84,25.84,10.13,48.26
$GC,660,1.93,575.0,2944,2130,1810,4094,43.9,14.9,74,669,0.00,1.08,0.00,0.000,516,0.000,0.048,2944,1718,1810,1810,4094,0,0,0,0,0,0,26.04,25.57,26.06,10.13,49.09
$GC,748,1.93,575.0,2944,1717,1807,4094,30.3,14.7,86,758,0.00,1.00,0.00,0.000,1030,0.000,0.031,2945,2124,1807,1807,4094,0,0,0,0,0,0,25.91,25.87,25.95,10.12,48.77
$GC,799,1.93,575.0,2944,2124,1806,4094,23.8,11.3,92,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2124,1806,1806,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.14,49.44
$GC,848,1.93,575.0,2944,2124,1804,4095,17.6,12.9,98,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2124,1804,1804,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.17,50.51
$GC,897,1.93,575.0,2944,2124,1803,4094,11.2,13.6,104,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2124,1803,1803,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.18,51.37
$GC,946,1.93,575.0,2944,2124,1801,4094,4.7,13.2,110,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2124,1801,1801,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.18,52.48
$STATE,963,end climb,FINISH_DEPTH_REACHED
$STATE,963,begin subsurface finish
$FINISH1,1.7,1.024541,74
$GC,978,0.11,73.7,2944,2126,1800,4095,1.7,13.5,112,996,5.70,0.00,-5.35,0.000,20486,0.022,0.000,2376,2126,2403,2403,4095,0,0,0,0,0,0,26.20,25.52,26.25,10.18,52.79
$FINISH2,0.2
$STATE,997,end subsurface finish,CONTROL_FINISHED_OK
$STATE,997,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,180917,172125
$TT8_MAMPS,0.025466,0.264397
$HUMID,52.83
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.34,90.668
$10V_AH,9.84,79.905
$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,23.800,7.400,64.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,325.195,0.000,116.971,474.984,142.407,0.000,330.663,0.000,281.637,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,51.255,1294.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,76.739,309.747,245.104,363.236,472.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,10842,114
$CAP_FILE_SIZE,24079,0
$CFSIZE,1024409600,893091840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180917,172850,5845.196,-17013.580,10,1.1,55,8.7,0.6,84.7,8,3.1