version: 66.13
glider: 401
mission: 22
dive: 3146
start: 9 19 117 5 35 11
data:
$ID,401
$MISSION,22
$DIVE,3146
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,190917,051530,5842.7173,-17009.8691,10,0.9,18,8.7,0.8,33.5,9,4.9
$_CALLS,9
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-2.7
$GPS2,190917,051530,5842.7173,-17009.8691,10,0.9,18,8.7,0.8,33.5,9,4.9
$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,142.7,24455,-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,12,-1.80,-487.5,2370,1934,2405,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,4097,0.021,0.000,1803,1934,2405,2405,4095,0,0,0,0,0,0,26.60,28.83,28.83,10.34,53.50
$GC,27,-1.80,-487.5,1802,1933,2405,4095,0.1,0.0,1,41,0.30,1.23,-5.93,0.000,20740,0.044,1.196,1764,2386,3055,3055,4094,0,0,0,0,0,0,26.27,23.76,26.30,10.34,53.11
$GC,195,-1.80,-487.5,1763,2389,3059,4094,20.8,-17.2,27,201,0.00,1.05,0.00,0.000,1030,0.000,0.031,1764,1962,3059,3059,4094,0,0,0,0,0,0,26.23,26.17,26.25,10.48,52.79
$GC,237,-1.80,-487.5,1763,1962,3060,4094,27.5,-15.0,33,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1962,3060,3060,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.46,52.52
$GC,279,-1.80,-487.5,1763,1962,3061,4094,33.0,-13.2,39,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1962,3062,3062,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.44,52.20
$GC,321,-1.80,-487.5,1763,1962,3062,4095,38.7,-14.1,45,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1962,3062,3062,4095,0,0,0,0,0,0,26.67,26.67,26.68,10.42,52.63
$GC,363,-1.80,-487.5,1764,1962,3064,4095,44.6,-13.9,51,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1962,3064,3064,4095,0,0,0,0,0,0,26.68,26.70,26.69,10.42,51.10
$GC,404,-1.80,-487.5,1763,1962,3064,4095,50.4,-13.7,57,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1962,3064,3064,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.41,50.78
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,448,-0.45,0.0,1764,2141,3066,4095,55.1,-12.3,62,484,4.50,0.00,28.67,1.248,10244,0.054,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.13,25.12,23.77,10.41,50.47
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,492,1.80,487.5,2185,2141,2484,4094,59.1,0.0,68,533,7.43,0.00,28.38,1.222,11270,0.028,0.000,2901,2141,1916,1916,4094,0,0,0,0,0,0,25.76,25.96,23.42,10.29,49.84
$GC,570,1.80,487.5,2901,2141,1915,4094,52.7,12.5,80,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2142,1914,1914,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.16,48.66
$GC,612,1.80,487.5,2901,2141,1913,4094,47.2,12.9,86,618,0.00,1.15,0.00,0.000,516,0.000,0.046,2902,1712,1913,1913,4094,0,0,0,0,0,0,25.98,25.53,25.99,10.16,49.13
$GC,726,1.80,487.5,2901,1711,1910,4094,31.6,13.0,104,733,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2130,1910,1910,4094,0,0,0,0,0,0,25.95,25.91,25.98,10.15,49.25
$GC,769,1.80,487.5,2901,2130,1908,4094,26.0,13.2,110,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1908,1908,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.16,50.15
$GC,811,1.80,487.5,2901,2130,1907,4094,20.6,12.8,116,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1907,1907,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.19,50.55
$GC,853,1.80,487.5,2901,2130,1906,4094,15.7,11.4,122,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1905,1905,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.19,51.45
$GC,895,1.85,520.3,2901,2130,1905,4094,11.3,10.3,128,902,0.00,0.00,3.22,0.321,8198,0.000,0.000,2902,2130,1876,1876,4094,0,0,0,0,0,0,26.50,25.01,23.91,10.20,52.36
$GC,938,1.85,520.3,2901,2130,1875,4094,6.0,12.4,134,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1875,1875,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.20,52.48
$STATE,973,end climb,FINISH_DEPTH_REACHED
$STATE,973,begin subsurface finish
$FINISH1,1.5,1.024582,71
$GC,988,0.11,70.9,2902,2130,1873,4094,1.5,10.5,140,1002,5.25,0.00,-4.65,0.000,20486,0.019,0.000,2368,2130,2406,2406,4094,0,0,0,0,0,0,26.27,24.38,26.31,10.20,52.99
$FINISH2,0.2
$STATE,1003,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1003,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,050142
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.42
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.42,91.508
$10V_AH,10.20,80.425
$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,23.125,5.325,60.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,372.775,220.977,128.883,206.048,137.352,0.000,285.070,0.000,215.915,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1195.695,1247.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333720
$DATA_FILE_SIZE,10905,142
$CAP_FILE_SIZE,23868,0
$CFSIZE,1024409600,891617280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,051530,5842.717,-17009.869,10,0.9,18,8.7,0.8,33.5,9,4.9