version: 66.13
glider: 401
mission: 22
dive: 3155
start: 9 19 117 9 5 42
data:
$ID,401
$MISSION,22
$DIVE,3155
$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,35
$R_STBD_OVSHOOT,48
$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
$GPS1,190917,084549,5840.0093,-17007.0625,7,0.8,39,8.8,0.5,120.8,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-1.7
$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,6,begin dive
$GC,13,-1.80,-487.5,2364,1976,2410,4092,0.0,0.0,0,20,5.72,0.00,0.00,0.000,4097,0.022,0.000,1790,1977,2410,2410,4094,0,0,0,0,0,0,26.53,28.83,28.83,10.33,53.81
$GC,27,-1.80,-487.5,1789,1976,2410,4094,0.3,0.0,1,40,0.00,1.08,-5.90,0.000,16644,0.000,1.195,1789,2376,3054,3054,4094,0,0,0,0,0,0,26.52,23.72,26.53,10.33,53.18
$GC,166,-1.80,-487.5,1789,2371,3058,4094,16.9,-16.2,23,173,0.00,1.02,0.00,0.000,1030,0.000,0.032,1790,1960,3058,3058,4094,0,0,0,0,0,0,26.15,26.11,26.19,10.46,53.38
$GC,209,-1.80,-487.5,1789,1959,3059,4094,23.6,-15.3,29,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1959,3059,3059,4094,0,0,0,0,0,0,26.57,26.59,26.58,10.47,53.54
$GC,251,-1.80,-487.5,1789,1959,3060,4094,29.8,-13.6,35,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1960,3060,3060,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.44,52.67
$GC,292,-1.80,-487.5,1789,1959,3061,4094,35.1,-12.7,41,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1959,3061,3061,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.42,53.18
$GC,334,-1.80,-487.5,1789,1959,3062,4094,40.6,-12.7,47,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1960,3062,3062,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.41,52.63
$GC,376,-1.80,-487.5,1789,1959,3063,4095,46.1,-12.9,53,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1959,3063,3063,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.40,51.85
$GC,418,-1.80,-487.5,1789,1959,3065,4094,51.5,-12.8,59,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1960,3064,3064,4095,0,0,0,0,0,0,26.67,26.69,26.68,10.39,51.10
$STATE,441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,441,begin apogee
$GC,456,-0.45,0.0,1789,2127,3065,4094,55.6,-13.5,63,492,4.22,0.00,28.62,1.255,10244,0.053,0.000,2186,2127,2484,2484,4094,0,0,0,0,0,0,26.11,25.12,23.77,10.40,50.94
$STATE,493,end apogee,CONTROL_FINISHED_OK
$STATE,493,begin climb
$GC,500,1.80,487.5,2185,2127,2484,4094,59.2,0.0,69,541,7.47,0.00,28.15,1.234,11270,0.031,0.000,2902,2128,1916,1916,4094,0,0,0,0,0,0,25.75,25.94,23.42,10.28,50.63
$GC,577,1.80,487.5,2902,2127,1915,4094,53.3,12.9,81,584,0.00,1.12,0.00,0.000,516,0.000,0.047,2902,1708,1915,1915,4094,0,0,0,0,0,0,25.75,25.34,25.76,10.16,49.09
$GC,708,1.80,487.5,2902,1708,1909,4094,35.4,14.5,101,715,0.00,1.00,0.00,0.000,1030,0.000,0.030,2902,2116,1911,1911,4094,0,0,0,0,0,0,25.91,25.86,25.93,10.15,50.39
$GC,751,1.80,487.5,2902,2116,1909,4094,29.4,14.2,107,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2117,1909,1909,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.14,49.84
$GC,793,1.80,487.5,2902,2116,1908,4094,24.1,12.1,113,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2116,1908,1908,4094,0,0,0,0,0,0,26.37,26.38,26.37,10.16,50.70
$GC,835,1.85,519.3,2902,2116,1908,4094,19.8,10.3,119,842,0.00,0.00,3.25,0.363,8198,0.000,0.000,2902,2117,1878,1878,4094,0,0,0,0,0,0,26.42,24.98,23.82,10.18,50.82
$GC,878,1.87,530.2,2902,2116,1877,4094,15.2,10.6,125,886,0.10,0.00,2.45,0.176,10246,0.076,0.000,2925,2116,1865,1865,4094,0,0,0,0,0,0,26.22,24.98,23.86,10.18,52.08
$GC,922,1.87,530.2,2925,2116,1864,4094,10.0,11.4,131,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2117,1864,1864,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.18,52.67
$GC,963,1.87,530.2,2925,2116,1863,4094,4.5,12.7,137,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2117,1862,1862,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.19,52.87
$STATE,981,end climb,FINISH_DEPTH_REACHED
$STATE,981,begin subsurface finish
$FINISH1,1.4,1.024602,70
$GC,996,0.10,69.5,2925,2116,1861,4094,1.4,13.3,140,1010,5.53,0.00,-4.38,0.000,20486,0.023,0.000,2368,2117,2409,2409,4094,0,0,0,0,0,0,26.26,24.36,26.29,10.19,53.03
$FINISH2,0.7
$STATE,1011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1011,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,073151
$TT8_MAMPS,0.025466,0.107856
$HUMID,53.66
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.42,91.761
$10V_AH,10.19,80.578
$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,23.050,5.175,62.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.839,216.043,132.735,206.516,143.392,0.000,291.626,0.000,215.908,0.000,0.543,0.000
$DEVICE_MAMPS,76.500,1194.930,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,10868,142
$CAP_FILE_SIZE,25163,0
$CFSIZE,1024409600,891174912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,582.41,0x2138e4,1,24
$GPS,190917,084549,5840.009,-17007.062,7,0.8,39,8.8,0.5,120.8,10,4.5