version: 66.13
glider: 401
mission: 22
dive: 3139
start: 9 19 117 2 45 14
data:
$ID,401
$MISSION,22
$DIVE,3139
$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,25
$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
$GPS1,190917,023507,5843.0000,-17013.4746,2,0.9,16,8.7,0.5,71.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-40.1
$GPS2,190917,024435,5843.0874,-17013.3535,9,1.1,18,8.7,0.0,4.9,10,5.0
$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,137.1,26798,-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,-487.5,230,1943,1902,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,2049,0.085,0.000,714,1943,1902,1902,4094,0,0,0,0,0,0,26.43,28.83,28.83,10.25,53.07
$GC,27,-1.80,-487.5,714,1940,1902,4094,0.9,0.0,1,58,11.23,1.25,-10.48,0.000,18692,0.050,1.199,1756,2378,3057,3057,4094,0,0,0,0,0,0,26.01,23.61,26.08,10.26,52.44
$GC,230,-1.80,-487.5,1755,2378,3061,4094,22.2,-17.4,33,236,0.00,1.05,0.00,0.000,1030,0.000,0.030,1757,1954,3061,3061,4095,0,0,0,0,0,0,26.10,26.09,26.16,10.50,52.04
$GC,272,-1.80,-487.5,1756,1954,3062,4095,29.1,-15.7,39,279,0.00,1.08,0.00,0.000,516,0.000,0.052,1756,1530,3062,3062,4095,0,0,0,0,0,0,26.55,25.96,26.55,10.49,52.52
$GC,315,-1.80,-487.5,1756,1529,3063,4095,34.8,-13.5,45,321,0.00,1.00,0.00,0.000,1030,0.000,0.027,1756,1954,3064,3064,4095,0,0,0,0,0,0,26.25,26.22,26.26,10.46,51.41
$GC,358,-1.80,-487.5,1756,1954,3065,4095,40.4,-13.5,51,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3064,3064,4095,0,0,0,0,0,0,26.60,26.60,26.61,10.45,51.41
$GC,399,-1.80,-487.5,1755,1954,3066,4095,46.6,-15.0,57,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3066,3066,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.44,50.51
$GC,441,-1.80,-487.5,1755,1954,3066,4095,51.3,-11.3,63,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3067,3067,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.43,50.39
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,479,-0.45,0.0,1756,2145,3068,4094,55.0,-12.3,67,515,4.55,0.00,28.83,1.257,10244,0.053,0.000,2185,2145,2485,2485,4095,0,0,0,0,0,0,26.09,25.06,23.70,10.43,49.84
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,523,1.80,487.5,2185,2145,2485,4095,59.5,0.0,73,564,7.40,0.00,28.38,1.237,11270,0.028,0.000,2901,2146,1916,1916,4094,0,0,0,0,0,0,25.73,25.91,23.37,10.31,49.40
$GC,601,1.80,487.5,2900,2145,1914,4094,53.6,14.0,85,607,0.00,1.15,0.00,0.000,516,0.000,0.050,2901,1721,1915,1915,4094,0,0,0,0,0,0,25.74,25.30,25.75,10.18,48.46
$GC,715,1.80,487.5,2901,1720,1910,4094,37.5,13.8,103,722,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2130,1911,1911,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.16,49.09
$GC,758,1.80,487.5,2901,2129,1910,4094,31.5,14.2,109,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1910,1910,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,49.05
$GC,800,1.80,487.5,2900,2129,1908,4094,25.4,14.9,115,806,0.00,1.17,0.00,0.000,260,0.000,0.054,2901,2565,1907,1907,4094,0,0,0,0,0,0,26.34,25.80,26.36,10.17,48.85
$GC,848,1.80,487.5,2900,2564,1907,4094,19.4,11.4,122,855,0.00,1.05,0.00,0.000,1030,0.000,0.026,2901,2135,1907,1907,4094,0,0,0,0,0,0,26.10,26.08,26.12,10.19,50.51
$GC,891,1.80,487.5,2900,2134,1905,4094,14.6,11.2,128,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2134,1905,1905,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.20,51.02
$GC,933,1.80,487.5,2900,2134,1905,4094,10.2,10.9,134,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1904,1904,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.21,51.96
$GC,975,1.80,487.5,2900,2133,1903,4094,5.5,11.4,140,981,0.00,1.08,0.00,0.000,516,0.000,0.050,2901,1715,1903,1903,4094,0,0,0,0,0,0,26.53,25.97,26.53,10.22,52.16
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,999,begin subsurface finish
$FINISH1,1.8,1.024523,75
$GC,1016,0.11,75.0,2901,2136,1902,4094,1.8,11.8,144,1030,5.25,1.23,-4.35,0.000,20996,0.021,1.204,2373,1708,2402,2402,4094,0,0,0,0,0,0,26.23,23.74,26.28,10.22,53.18
$FINISH2,0.3
$STATE,1031,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1031,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,013025
$TT8_MAMPS,0.025466,0.13482
$HUMID,52.83
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.37,91.313
$10V_AH,10.09,80.295
$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,34.025,12.575,57.200,0.000,0.000,24.583,19.440,261.138,0.000,0.000,20.149,388.770,222.694,142.075,477.308,373.593,0.000,309.443,0.000,223.223,0.000,0.542,0.000
$DEVICE_MAMPS,84.915,1204.110,1256.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333536
$DATA_FILE_SIZE,10881,146
$CAP_FILE_SIZE,29748,0
$CFSIZE,1024409600,891961344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,190917,024435,5843.087,-17013.354,9,1.1,18,8.7,0.0,4.9,10,5.0