version: 66.13
glider: 401
mission: 22
dive: 3154
start: 9 19 117 8 46 28
data:
$ID,401
$MISSION,22
$DIVE,3154
$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,29
$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
$GPS1,190917,083556,5840.0908,-17007.1719,4,0.8,28,8.8,0.4,100.5,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-30.7
$GPS2,190917,084549,5840.0093,-17007.0625,7,0.8,39,8.8,0.5,120.8,10,4.5
$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,142.6,18752,-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,-487.5,231,1938,1836,4092,0.0,0.0,0,20,5.70,0.00,0.00,0.000,2049,0.076,0.000,734,1938,1836,1836,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.22,52.99
$GC,27,-1.80,-487.5,733,1938,1836,4094,0.7,0.0,1,58,10.82,1.27,-11.07,0.000,18692,0.043,1.200,1756,2375,3055,3055,4095,0,0,0,0,0,0,25.99,23.63,26.08,10.22,52.59
$GC,182,-1.80,-487.5,1755,2375,3058,4095,18.1,-16.8,25,188,0.00,1.05,0.00,0.000,1030,0.000,0.028,1756,1953,3059,3059,4094,0,0,0,0,0,0,26.14,26.11,26.16,10.48,52.67
$GC,224,-1.80,-487.5,1755,1953,3060,4094,25.3,-17.6,31,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1953,3062,3062,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.48,52.32
$GC,266,-1.80,-487.5,1755,1953,3062,4094,32.2,-15.3,37,273,0.00,1.12,0.00,0.000,260,0.000,0.046,1756,2372,3062,3062,4095,0,0,0,0,0,0,26.54,25.98,26.55,10.45,52.20
$GC,339,-1.80,-487.5,1755,2372,3064,4095,42.5,-14.5,48,345,0.00,1.02,0.00,0.000,1030,0.000,0.031,1756,1961,3065,3065,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.43,51.85
$GC,381,-1.80,-487.5,1755,1961,3065,4095,48.5,-14.2,54,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1961,3065,3065,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.42,51.14
$GC,423,-1.80,-487.5,1755,1961,3066,4095,54.2,-14.4,60,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1962,3065,3065,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.41,50.03
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,449,-0.45,0.0,1756,2145,3066,4095,56.6,-13.9,62,485,4.57,0.00,28.85,1.270,10244,0.055,0.000,2184,2145,2483,2483,4095,0,0,0,0,0,0,26.06,25.04,23.68,10.41,50.51
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,492,1.80,487.5,2184,2145,2483,4095,60.5,0.0,68,535,7.43,1.08,28.50,1.241,10500,0.028,0.050,2901,2551,1915,1915,4094,0,0,0,0,0,0,25.56,25.51,23.36,10.29,50.51
$GC,559,1.80,487.5,2901,2550,1915,4094,55.4,11.8,78,566,0.00,1.05,0.00,0.000,1030,0.000,0.025,2902,2132,1915,1915,4094,0,0,0,0,0,0,25.41,25.38,25.43,10.17,48.74
$GC,602,1.80,487.5,2901,2132,1914,4094,49.9,12.0,84,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2133,1914,1914,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.17,48.58
$GC,644,1.80,487.5,2901,2132,1912,4094,44.1,13.8,90,650,0.00,1.08,0.00,0.000,516,0.000,0.046,2902,1717,1912,1912,4094,0,0,0,0,0,0,26.06,25.60,26.07,10.16,48.81
$GC,752,1.80,487.5,2901,1717,1909,4094,29.4,13.7,107,759,0.00,0.98,0.00,0.000,1030,0.000,0.030,2902,2119,1909,1909,4094,0,0,0,0,0,0,25.98,25.94,26.01,10.15,48.97
$GC,795,1.80,487.5,2901,2119,1907,4094,24.1,11.5,113,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1907,1907,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.17,50.35
$GC,837,1.83,508.2,2901,2119,1907,4094,19.7,10.5,119,844,0.00,0.00,2.60,0.226,8198,0.000,0.000,2902,2119,1891,1891,4094,0,0,0,0,0,0,26.42,24.88,23.68,10.18,50.78
$GC,880,1.85,516.2,2901,2119,1890,4094,14.9,10.7,125,887,0.00,0.00,2.33,0.139,8198,0.000,0.000,2902,2119,1881,1881,4095,0,0,0,0,0,0,26.46,24.94,23.81,10.19,51.73
$GC,923,1.85,516.2,2901,2119,1880,4095,9.7,11.5,131,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1880,1880,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.19,52.08
$GC,965,1.88,537.2,2902,2119,1878,4094,5.4,10.5,137,973,0.12,0.00,2.90,0.246,10246,0.067,0.000,2926,2119,1856,1856,4094,0,0,0,0,0,0,26.28,25.05,24.01,10.19,52.16
$STATE,990,end climb,FINISH_DEPTH_REACHED
$STATE,990,begin subsurface finish
$FINISH1,1.8,1.024610,69
$GC,1005,0.10,69.0,2926,2118,1856,4094,1.8,11.1,141,1025,5.55,1.10,-4.88,0.000,20996,0.022,1.202,2364,1717,2411,2411,4095,0,0,0,0,0,0,26.27,23.69,26.30,10.19,52.71
$FINISH2,0.4
$STATE,1026,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1026,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,073151
$TT8_MAMPS,0.026215,0.132573
$HUMID,53.50
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.36,91.740
$10V_AH,10.10,80.568
$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,34.200,10.200,65.175,0.000,0.000,24.920,19.193,267.026,0.000,0.000,40.586,384.732,210.749,149.889,498.750,380.133,0.000,319.371,0.000,220.393,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1201.815,1269.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333556
$DATA_FILE_SIZE,10800,144
$CAP_FILE_SIZE,30703,0
$CFSIZE,1024409600,891224064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190917,084549,5840.009,-17007.062,7,0.8,39,8.8,0.5,120.8,10,4.5