version: 66.13
glider: 401
mission: 22
dive: 3157
start: 9 19 117 9 54 42
data:
$ID,401
$MISSION,22
$DIVE,3157
$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,37
$R_STBD_OVSHOOT,29
$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
$GPS1,190917,094437,5839.0967,-17006.9160,5,0.9,17,8.8,0.5,41.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-39.4
$GPS2,190917,095403,5839.0078,-17006.8457,7,0.9,19,8.8,0.5,155.7,10,4.9
$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,140.2,17038,-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,-487.5,231,1938,1858,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,2049,0.079,0.000,721,1936,1858,1858,4094,0,0,0,0,0,0,26.43,28.83,28.83,10.22,53.15
$GC,27,-1.80,-487.5,721,1937,1858,4094,0.9,0.0,1,58,10.90,1.33,-10.93,0.000,18692,0.041,1.220,1755,2369,3057,3057,4094,0,0,0,0,0,0,25.96,23.60,26.04,10.23,52.52
$GC,224,-1.80,-487.5,1755,2369,3062,4094,24.5,-17.0,32,231,0.00,1.02,0.00,0.000,1030,0.000,0.028,1756,1962,3062,3062,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.48,52.08
$GC,267,-1.80,-487.5,1755,1962,3063,4094,32.2,-16.9,38,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1962,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.45,52.28
$GC,309,-1.80,-487.5,1755,1962,3065,4095,38.3,-14.1,44,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1962,3065,3065,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.44,52.20
$GC,350,-1.80,-487.5,1755,1962,3065,4094,44.1,-13.9,50,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1962,3066,3066,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.43,50.59
$GC,392,-1.80,-487.5,1755,1962,3067,4095,49.7,-12.9,56,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1962,3067,3067,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.42,50.47
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,442,-0.45,0.0,1756,2140,3068,4094,56.0,-15.9,62,483,4.60,0.00,29.10,1.265,10244,0.054,0.000,2186,2139,2482,2482,4094,0,0,0,0,0,0,26.06,24.53,23.65,10.41,50.78
$STATE,484,end apogee,CONTROL_FINISHED_OK
$STATE,484,begin climb
$GC,491,1.80,487.5,2186,2139,2482,4094,60.4,0.0,69,533,7.45,0.00,28.35,1.236,11270,0.029,0.000,2901,2139,1915,1915,4094,0,0,0,0,0,0,25.72,25.91,23.35,10.29,49.40
$GC,569,1.80,487.5,2901,2140,1915,4094,53.6,12.1,81,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2140,1914,1914,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.16,48.54
$GC,611,1.80,487.5,2901,2140,1913,4094,48.1,12.8,87,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2140,1913,1913,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.17,48.38
$GC,652,1.80,487.5,2901,2140,1912,4094,42.6,12.9,93,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2140,1912,1912,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.16,48.85
$GC,694,1.80,487.5,2901,2140,1911,4094,36.9,13.8,99,701,0.00,1.15,0.00,0.000,516,0.000,0.047,2902,1704,1910,1910,4094,0,0,0,0,0,0,26.20,25.69,26.22,10.15,49.17
$GC,791,1.80,487.5,2901,1704,1908,4094,24.8,10.9,114,797,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2129,1908,1908,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.17,49.40
$GC,834,1.84,510.3,2901,2128,1907,4094,20.3,10.4,120,841,0.00,0.00,2.78,0.272,8198,0.000,0.000,2901,2129,1888,1888,4094,0,0,0,0,0,0,26.42,24.90,23.72,10.18,51.10
$GC,877,1.84,510.3,2901,2128,1887,4094,15.3,12.0,126,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1887,1887,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.19,51.89
$GC,919,1.84,510.3,2901,2128,1885,4094,10.6,11.1,132,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1886,1886,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.19,52.36
$GC,961,1.88,540.6,2901,2128,1885,4094,6.0,10.3,138,968,0.15,0.00,3.35,0.316,10246,0.057,0.000,2930,2129,1852,1852,4094,0,0,0,0,0,0,26.28,25.06,24.04,10.20,52.63
$STATE,986,end climb,FINISH_DEPTH_REACHED
$STATE,986,begin subsurface finish
$FINISH1,1.8,1.024596,70
$GC,1001,0.10,69.9,2930,2128,1851,4094,1.8,14.0,142,1015,5.65,0.00,-4.93,0.000,20486,0.031,0.000,2369,2129,2409,2409,4095,0,0,0,0,0,0,26.17,24.36,26.23,10.19,52.71
$FINISH2,0.2
$STATE,1016,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1016,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,083957
$TT8_MAMPS,0.025466,0.13482
$HUMID,53.66
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.35,91.822
$10V_AH,10.11,80.624
$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,34.350,4.975,63.575,0.000,0.000,22.499,22.789,258.008,0.000,0.000,20.660,379.798,215.935,145.556,469.990,374.195,0.000,312.706,0.000,220.516,0.000,0.543,0.000
$DEVICE_MAMPS,78.795,1220.175,1264.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333520
$DATA_FILE_SIZE,10882,144
$CAP_FILE_SIZE,28920,0
$CFSIZE,1024409600,891076608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190917,095403,5839.008,-17006.846,7,0.9,19,8.8,0.5,155.7,10,4.9