version: 66.13
glider: 401
mission: 22
dive: 3149
start: 9 19 117 6 46 36
data:
$ID,401
$MISSION,22
$DIVE,3149
$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,21
$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
$GPS1,190917,062631,5841.9619,-17008.4961,7,0.7,26,8.8,0.4,229.6,11,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-5.3
$GPS2,190917,062631,5841.9619,-17008.4961,7,0.7,26,8.8,0.4,229.6,11,4.9
$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,143.9,22596,-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,-487.5,2369,1941,2402,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.023,0.000,1809,1941,2402,2402,4094,0,0,0,0,0,0,26.53,28.83,28.83,10.33,52.71
$GC,27,-1.80,-487.5,1808,1938,2402,4094,0.2,0.0,1,41,0.22,1.27,-5.97,0.000,20740,0.045,1.206,1775,2387,3056,3056,4094,0,0,0,0,0,0,26.27,23.75,26.29,10.33,52.28
$GC,182,-1.80,-487.5,1775,2387,3060,4094,18.1,-16.7,25,189,0.00,1.08,0.00,0.000,1030,0.000,0.031,1775,1954,3060,3060,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.48,53.03
$GC,225,-1.80,-487.5,1775,1954,3061,4095,25.4,-17.1,31,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3061,3061,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.47,52.48
$GC,266,-1.80,-487.5,1774,1954,3062,4094,31.5,-14.2,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1954,3062,3062,4095,0,0,0,0,0,0,26.61,26.62,26.62,10.45,52.63
$GC,308,-1.80,-487.5,1774,1954,3063,4095,37.2,-13.1,43,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3063,3063,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.43,51.89
$GC,350,-1.80,-487.5,1775,1954,3065,4095,42.9,-13.6,49,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3065,3065,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.42,51.14
$GC,392,-1.80,-487.5,1775,1954,3065,4095,48.6,-13.9,55,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3066,3066,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.41,50.63
$GC,434,-1.80,-487.5,1775,1954,3067,4095,54.2,-13.5,61,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3066,3066,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.40,50.35
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,445,begin apogee
$GC,459,-0.45,0.0,1774,2152,3067,4095,56.6,-13.6,63,495,4.38,0.00,28.75,1.264,10244,0.053,0.000,2186,2152,2485,2485,4094,0,0,0,0,0,0,26.12,25.12,23.76,10.41,50.47
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,503,1.80,487.5,2186,2152,2484,4094,60.4,0.0,69,545,7.43,0.00,28.38,1.242,11270,0.029,0.000,2900,2152,1915,1915,4094,0,0,0,0,0,0,25.75,25.93,23.42,10.29,50.07
$GC,581,1.80,487.5,2900,2152,1914,4094,54.3,12.9,81,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1915,1915,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.17,49.09
$GC,623,1.80,487.5,2900,2151,1913,4094,48.6,13.6,87,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.16,48.97
$GC,664,1.80,487.5,2900,2151,1912,4094,42.9,13.6,93,671,0.00,1.17,0.00,0.000,516,0.000,0.046,2900,1712,1912,1912,4094,0,0,0,0,0,0,26.11,25.63,26.12,10.15,48.77
$GC,785,1.80,487.5,2900,1712,1908,4094,26.5,13.1,112,792,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2125,1908,1908,4095,0,0,0,0,0,0,26.02,25.99,26.05,10.15,49.72
$GC,828,1.80,487.5,2900,2124,1907,4095,21.7,10.9,118,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1907,1907,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.18,50.82
$GC,870,1.82,499.2,2900,2124,1906,4094,17.1,10.6,124,877,0.00,0.00,2.15,0.082,8198,0.000,0.000,2900,2125,1901,1901,4094,0,0,0,0,0,0,26.46,24.71,23.39,10.19,51.45
$GC,913,1.83,507.0,2900,2124,1900,4094,12.5,10.7,130,920,0.00,0.00,2.30,0.127,8198,0.000,0.000,2901,2125,1892,1892,4094,0,0,0,0,0,0,26.49,24.91,23.78,10.19,52.48
$GC,955,1.83,507.0,2900,2124,1890,4094,7.5,11.2,136,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1890,1890,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.20,52.40
$GC,998,1.91,559.4,2900,2124,1889,4094,2.9,10.0,142,1006,0.28,0.00,4.50,0.404,10246,0.040,0.000,2939,2125,1830,1830,4095,0,0,0,0,0,0,26.29,25.13,24.14,10.20,52.79
$STATE,1011,end climb,FINISH_DEPTH_REACHED
$STATE,1011,begin subsurface finish
$FINISH1,0.7,1.024589,70
$GC,1026,0.11,70.4,2939,2124,1830,4094,0.7,9.8,144,1040,5.65,0.00,-4.93,0.000,20998,0.021,0.000,2367,2125,2409,2409,4095,0,0,0,0,0,0,26.25,24.38,26.28,10.19,53.46
$FINISH2,0.4
$STATE,1041,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1041,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,061931
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.11
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.39,91.593
$10V_AH,10.23,80.483
$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,23.575,5.475,66.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,384.891,219.556,136.701,213.109,149.395,0.000,300.567,0.000,221.596,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1205.640,1263.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333644
$DATA_FILE_SIZE,10769,146
$CAP_FILE_SIZE,26095,0
$CFSIZE,1024409600,891469824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,062631,5841.962,-17008.496,7,0.7,26,8.8,0.4,229.6,11,4.9