version: 66.13
glider: 401
mission: 22
dive: 3147
start: 9 19 117 5 54 1
data:
$ID,401
$MISSION,22
$DIVE,3147
$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,24
$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
$GPS1,190917,051530,5842.7173,-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,0.25
$_SM_ANGLEo,1.9
$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,-487.5,2367,1955,2406,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.021,0.000,1800,1955,2406,2406,4094,0,0,0,0,0,0,26.62,28.83,28.83,10.32,54.13
$GC,27,-1.80,-487.5,1799,1954,2406,4094,0.2,0.0,1,40,0.15,1.20,-5.95,0.000,20740,0.062,1.216,1777,2379,3055,3055,4094,0,0,0,0,0,0,26.35,23.78,26.36,10.33,53.34
$GC,182,-1.80,-487.5,1776,2380,3059,4094,19.7,-16.5,25,188,0.00,1.08,0.00,0.000,1030,0.000,0.031,1777,1947,3059,3059,4094,0,0,0,0,0,0,26.21,26.17,26.24,10.47,53.22
$GC,225,-1.80,-487.5,1777,1946,3060,4094,26.4,-15.1,31,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3060,3060,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.47,53.66
$GC,266,-1.80,-487.5,1777,1946,3061,4095,31.9,-12.7,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3061,3061,4094,0,0,0,0,0,0,26.65,26.66,26.66,10.44,52.95
$GC,308,-1.80,-487.5,1777,1947,3062,4094,37.4,-13.1,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3062,3062,4094,0,0,0,0,0,0,26.67,26.68,26.67,10.42,52.59
$GC,350,-1.80,-487.5,1777,1947,3063,4094,43.1,-13.4,49,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3063,3063,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.42,52.79
$GC,392,-1.80,-487.5,1777,1946,3064,4094,48.7,-13.9,55,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1946,3064,3064,4095,0,0,0,0,0,0,26.70,26.71,26.71,10.41,51.89
$GC,434,-1.80,-487.5,1776,1946,3065,4095,54.1,-13.2,61,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3066,3066,4095,0,0,0,0,0,0,26.71,26.72,26.72,10.41,51.92
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,445,begin apogee
$GC,459,-0.45,0.0,1777,2147,3066,4095,56.3,-12.6,63,495,4.32,0.00,28.70,1.257,10244,0.053,0.000,2185,2147,2484,2484,4095,0,0,0,0,0,0,26.14,25.12,23.77,10.40,51.49
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,503,1.80,487.5,2185,2146,2484,4095,59.9,0.0,69,544,7.43,0.00,28.30,1.233,11270,0.030,0.000,2900,2146,1915,1915,4094,0,0,0,0,0,0,25.77,25.96,23.41,10.29,50.63
$GC,581,1.80,487.5,2899,2146,1915,4094,54.1,11.5,81,587,0.00,1.15,0.00,0.000,516,0.000,0.047,2900,1716,1914,1914,4094,0,0,0,0,0,0,25.77,25.35,25.77,10.16,49.21
$GC,701,1.80,487.5,2900,1716,1911,4094,38.0,13.3,100,708,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2129,1911,1911,4094,0,0,0,0,0,0,25.89,25.86,25.92,10.15,49.64
$GC,744,1.80,487.5,2900,2128,1910,4094,32.1,14.1,106,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1909,1909,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.14,49.84
$GC,786,1.80,487.5,2900,2128,1908,4094,26.5,13.8,112,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1907,1907,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.15,50.03
$GC,828,1.80,487.5,2900,2128,1907,4094,21.2,12.0,118,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1907,1907,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.18,50.78
$GC,869,1.80,487.5,2899,2128,1906,4094,16.3,11.7,124,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1905,1905,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.18,52.16
$GC,911,1.89,543.1,2900,2128,1905,4095,11.9,9.9,130,919,0.20,0.00,4.40,0.458,10246,0.048,0.000,2933,2129,1850,1850,4094,0,0,0,0,0,0,26.22,25.09,24.01,10.19,52.36
$GC,955,1.89,543.1,2933,2128,1848,4094,6.4,13.1,136,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2129,1848,1848,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.19,52.79
$STATE,991,end climb,SURFACE_DEPTH_REACHED
$STATE,991,begin surface coast
$FINISH,0.4,1.024580
$STATE,1004,end surface coast,CONTROL_FINISHED_OK
$STATE,1004,begin surface
$SM_CCo,1114,0.00,0.000,0,0,1846,548.65
$SM_GC,1.09,27.67,0.45,0.00,0.020,0.049,0.000,230,1954,1846,-6.59,1.55,548.65,0,0,0,0,0,0,25.91,26.13,26.02
$IRIDIUM_FIX,5807.44,-16912.56,190917,050142
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.22
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.41,91.529
$10V_AH,10.20,80.436
$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,45.400,5.825,61.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.053,283.223,152.242,209.378,154.695,0.000,310.412,0.000,218.537,0.000,0.543,0.000
$DEVICE_MAMPS,61.965,1215.585,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.153,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10812,144
$CAP_FILE_SIZE,26327,0
$CFSIZE,1024409600,891568128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,061347,5842.022,-17008.715,5,0.8,24,8.8,0.7,233.8,10,4.9