version: 66.13
glider: 401
mission: 22
dive: 3117
start: 9 18 117 18 7 29
data:
$ID,401
$MISSION,22
$DIVE,3117
$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,31
$R_STBD_OVSHOOT,23
$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,0.21
$_SM_ANGLEo,-2.8
$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,-487.5,2376,1945,2403,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.023,0.000,1815,1945,2403,2403,4094,0,0,0,0,0,0,26.55,28.83,28.83,10.33,52.83
$GC,27,-1.80,-487.5,1814,1945,2403,4094,0.2,0.0,1,40,0.28,0.00,-5.93,0.000,20486,0.040,0.000,1774,1945,3055,3055,4095,0,0,0,0,0,0,26.29,25.60,26.31,10.33,52.67
$GC,76,-1.80,-487.5,1774,1946,3056,4095,4.1,-13.4,8,82,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3056,3056,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.46,53.22
$GC,117,-1.80,-487.5,1774,1945,3058,4095,10.6,-15.5,14,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3058,3058,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.47,52.99
$GC,159,-1.80,-487.5,1773,1945,3059,4094,17.8,-17.0,20,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3059,3059,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.47,53.11
$GC,201,-1.80,-487.5,1774,1945,3060,4095,24.8,-17.1,26,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3061,3061,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.47,53.07
$GC,243,-1.80,-487.5,1774,1945,3061,4094,30.4,-11.4,32,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3061,3061,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.44,52.40
$GC,285,-1.80,-487.5,1774,1945,3062,4095,35.3,-11.8,38,291,0.00,1.17,0.00,0.000,260,0.000,0.045,1775,2385,3062,3062,4094,0,0,0,0,0,0,26.62,26.06,26.63,10.42,52.16
$GC,369,-1.80,-487.5,1774,2385,3064,4094,46.2,-13.1,51,376,0.00,1.08,0.00,0.000,1030,0.000,0.031,1774,1951,3065,3065,4094,0,0,0,0,0,0,26.26,26.22,26.29,10.41,51.65
$GC,412,-1.80,-487.5,1774,1951,3065,4094,52.0,-13.5,57,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3066,3066,4094,0,0,0,0,0,0,26.67,26.69,26.69,10.40,50.47
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,444,-0.45,0.0,1774,2149,3066,4094,55.1,-13.3,60,480,4.38,0.00,28.70,1.270,10244,0.053,0.000,2184,2149,2484,2484,4094,0,0,0,0,0,0,26.13,25.10,23.76,10.40,50.47
$STATE,481,end apogee,CONTROL_FINISHED_OK
$STATE,481,begin climb
$GC,487,1.80,487.5,2185,2149,2483,4094,58.7,0.0,66,529,7.45,0.00,28.33,1.239,11270,0.029,0.000,2901,2149,1916,1916,4094,0,0,0,0,0,0,25.74,25.93,23.40,10.28,49.76
$GC,565,1.80,487.5,2901,2149,1914,4094,52.7,12.7,78,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2149,1915,1915,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.15,48.58
$GC,607,1.80,487.5,2901,2149,1913,4094,46.9,14.1,84,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2149,1913,1913,4095,0,0,0,0,0,0,25.95,25.96,25.96,10.15,49.01
$GC,649,1.80,487.5,2901,2149,1912,4095,41.2,13.6,90,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2149,1912,1912,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.14,48.74
$GC,691,1.80,487.5,2901,2149,1911,4094,35.5,13.6,96,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2149,1911,1911,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.14,48.85
$GC,732,1.80,487.5,2901,2149,1910,4094,29.5,14.3,102,739,0.00,1.15,0.00,0.000,516,0.000,0.047,2902,1715,1909,1909,4094,0,0,0,0,0,0,26.29,25.77,26.29,10.14,49.01
$GC,787,1.80,487.5,2901,1715,1908,4094,22.3,11.4,110,793,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2128,1908,1908,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.16,49.48
$GC,829,1.80,487.5,2901,2127,1907,4094,17.4,11.5,116,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1908,1908,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.18,51.06
$GC,871,1.80,487.5,2901,2127,1905,4094,12.1,13.0,122,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1905,1905,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.19,52.63
$GC,913,1.93,574.3,2901,2127,1904,4094,7.7,9.5,128,926,0.32,0.00,5.93,0.514,10246,0.036,0.000,2944,2128,1812,1812,4095,0,0,0,0,0,0,26.25,24.74,24.14,10.20,52.44
$STATE,956,end climb,SURFACE_DEPTH_REACHED
$STATE,956,begin surface coast
$FINISH,0.4,1.024552
$STATE,969,end surface coast,CONTROL_FINISHED_OK
$STATE,969,begin surface
$SM_CCo,1080,0.00,0.000,0,0,1810,579.55
$SM_GC,0.91,27.85,0.45,0.00,0.020,0.039,0.000,230,1939,1810,-6.59,1.37,579.55,0,0,0,0,0,0,25.96,26.15,26.05
$IRIDIUM_FIX,5807.44,-16912.56,180917,172125
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.15
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.40,90.689
$10V_AH,10.23,79.915
$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,45.900,5.800,62.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,367.455,261.174,163.308,199.286,160.220,0.000,322.636,0.000,208.843,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,46.665,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.962,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,10868,137
$CAP_FILE_SIZE,27188,0
$CFSIZE,1024409600,893042688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180917,182629,5844.586,-17012.838,2,0.7,12,8.7,0.4,59.1,11,4.8