version: 66.13
glider: 401
mission: 22
dive: 3121
start: 9 18 117 19 52 22
data:
$ID,401
$MISSION,22
$DIVE,3121
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,180917,193816,5843.8208,-17012.9141,3,0.8,19,8.7,0.0,18.9,9,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-37.2
$GPS2,180917,195143,5843.7461,-17012.9609,9,0.8,23,8.7,0.2,212.8,10,4.9
$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,139.2,27611,-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,-487.5,230,1933,1660,4092,0.0,0.0,0,20,5.70,0.00,0.00,0.000,2049,0.086,0.000,723,1934,1660,1660,4094,0,0,0,0,0,0,26.40,28.83,28.83,10.20,52.44
$GC,27,-1.80,-487.5,723,1933,1660,4094,0.8,0.0,1,58,10.88,1.27,-12.60,0.000,18692,0.040,1.205,1755,2377,3056,3056,4094,0,0,0,0,0,0,25.95,23.56,26.03,10.20,51.89
$GC,296,-1.80,-487.5,1755,2377,3062,4094,33.0,-13.4,44,303,0.00,1.05,0.00,0.000,1030,0.000,0.030,1755,1954,3062,3062,4095,0,0,0,0,0,0,26.17,26.14,26.20,10.46,51.22
$GC,339,-1.80,-487.5,1754,1953,3063,4095,38.6,-13.1,50,345,0.00,1.15,0.00,0.000,260,0.000,0.046,1755,2381,3063,3063,4095,0,0,0,0,0,0,26.59,26.02,26.60,10.45,50.86
$GC,411,-1.80,-487.5,1755,2381,3066,4095,48.7,-14.3,61,418,0.00,1.08,0.00,0.000,1030,0.000,0.030,1755,1948,3065,3065,4095,0,0,0,0,0,0,26.22,26.18,26.26,10.43,50.35
$GC,454,-1.80,-487.5,1755,1947,3066,4095,54.7,-13.8,67,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3066,3066,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.43,50.15
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,479,-0.45,0.0,1755,2147,3067,4095,57.3,-14.8,69,520,4.60,0.00,28.90,1.268,10244,0.054,0.000,2186,2147,2484,2484,4094,0,0,0,0,0,0,26.07,25.05,23.68,10.42,49.29
$STATE,521,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,528,1.80,487.5,2186,2146,2484,4094,61.2,0.0,76,570,7.32,1.10,28.40,1.244,10500,0.025,0.053,2901,2556,1915,1915,4094,0,0,0,0,0,0,25.58,25.51,23.37,10.31,48.66
$GC,582,1.81,494.9,2901,2556,1915,4094,57.9,10.7,84,590,0.00,1.08,2.35,0.211,9222,0.000,0.026,2902,2133,1906,1906,4094,0,0,0,0,0,0,25.34,25.29,23.22,10.18,47.79
$GC,626,1.81,494.9,2901,2132,1906,4094,52.4,12.5,90,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1906,1906,4095,0,0,0,0,0,0,25.84,25.85,25.85,10.18,47.63
$GC,668,1.81,494.9,2901,2133,1905,4095,47.0,13.1,96,674,0.00,1.08,0.00,0.000,516,0.000,0.045,2902,1717,1904,1904,4094,0,0,0,0,0,0,26.02,25.56,26.03,10.16,47.99
$GC,776,1.81,494.9,2901,1717,1901,4094,32.5,13.2,113,783,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2126,1901,1901,4094,0,0,0,0,0,0,25.95,25.92,25.98,10.15,48.93
$GC,819,1.81,494.9,2901,2126,1900,4094,27.0,12.8,119,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1900,1900,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.16,48.74
$GC,861,1.92,562.9,2901,2125,1899,4094,23.0,9.8,125,874,0.28,0.00,5.20,0.582,10246,0.039,0.000,2941,2126,1827,1827,4094,0,0,0,0,0,0,26.17,25.08,23.94,10.19,49.60
$GC,910,1.92,562.9,2940,2126,1826,4094,17.0,12.7,132,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2126,1826,1826,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.19,50.82
$GC,952,1.92,562.9,2940,2126,1824,4094,11.7,12.5,138,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2126,1824,1824,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.19,51.57
$GC,994,1.92,562.9,2940,2125,1823,4094,6.2,13.1,144,1000,0.00,1.08,0.00,0.000,516,0.000,0.045,2941,1715,1823,1823,4094,0,0,0,0,0,0,26.48,25.94,26.50,10.19,52.63
$STATE,1024,end climb,FINISH_DEPTH_REACHED
$STATE,1024,begin subsurface finish
$FINISH1,1.7,1.024531,74
$GC,1040,0.11,74.4,2941,2141,1821,4094,1.7,12.2,149,1060,5.62,1.20,-5.07,0.000,20996,0.020,1.208,2376,1720,2402,2402,4094,0,0,0,0,0,0,26.20,23.69,26.25,10.20,52.71
$FINISH2,0.2
$STATE,1061,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1061,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,180917,194233
$TT8_MAMPS,0.025466,0.134071
$HUMID,52.87
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.22,90.823
$10V_AH,10.13,79.993
$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,34.400,12.650,64.850,0.000,0.000,64.271,49.865,366.398,0.000,0.000,25.033,397.503,278.234,150.443,651.163,394.470,0.000,321.860,0.000,231.645,0.000,0.545,0.000
$DEVICE_MAMPS,86.445,1207.935,1267.605,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333532
$DATA_FILE_SIZE,10818,152
$CAP_FILE_SIZE,32042,0
$CFSIZE,1024409600,892846080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180917,195143,5843.746,-17012.961,9,0.8,23,8.7,0.2,212.8,10,4.9