version: 66.13
glider: 401
mission: 22
dive: 3173
start: 9 19 117 15 56 33
data:
$ID,401
$MISSION,22
$DIVE,3173
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,190917,153618,5837.1240,-17004.2637,7,0.8,19,8.8,1.0,93.6,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-4.2
$GPS2,190917,153618,5837.1240,-17004.2637,7,0.8,19,8.8,1.0,93.6,11,4.9
$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,141.8,12766,-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,-487.5,2370,1965,2410,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,4097,0.018,0.000,1801,1965,2410,2410,4094,0,0,0,0,0,0,26.60,28.83,28.83,10.32,53.18
$GC,27,-1.80,-487.5,1801,1965,2409,4094,0.1,0.0,1,41,0.15,1.20,-5.88,0.000,20740,0.062,1.219,1779,2377,3057,3057,4095,0,0,0,0,0,0,26.32,23.75,26.34,10.32,53.42
$GC,166,-1.80,-487.5,1778,2378,3059,4095,14.0,-15.1,22,173,0.00,1.08,0.00,0.000,1030,0.000,0.032,1778,1948,3060,3060,4094,0,0,0,0,0,0,26.17,26.14,26.22,10.46,53.07
$GC,209,-1.80,-487.5,1778,1948,3062,4094,21.9,-15.4,28,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1948,3062,3062,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.46,53.26
$GC,251,-1.80,-487.5,1778,1948,3063,4094,28.4,-14.7,34,257,0.00,1.08,0.00,0.000,516,0.000,0.053,1778,1523,3063,3063,4095,0,0,0,0,0,0,26.63,26.03,26.64,10.45,52.79
$GC,335,-1.80,-487.5,1778,1523,3065,4095,38.7,-11.8,47,342,0.00,1.00,0.00,0.000,1030,0.000,0.028,1778,1948,3065,3065,4095,0,0,0,0,0,0,26.32,26.29,26.34,10.42,52.36
$GC,378,-1.80,-487.5,1778,1948,3066,4095,44.1,-13.0,53,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1948,3066,3066,4095,0,0,0,0,0,0,26.67,26.70,26.69,10.41,51.57
$GC,420,-1.80,-487.5,1778,1948,3067,4095,49.4,-12.2,59,426,0.00,1.10,0.00,0.000,260,0.000,0.046,1778,2371,3067,3067,4094,0,0,0,0,0,0,26.70,26.12,26.70,10.40,52.08
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,477,-0.45,0.0,1779,2116,3068,4094,55.7,-12.7,66,513,4.32,0.00,28.85,1.255,10244,0.053,0.000,2185,2116,2484,2484,4094,0,0,0,0,0,0,26.13,25.10,23.74,10.40,51.33
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,520,1.80,487.5,2184,2116,2484,4094,59.5,0.0,72,562,7.45,0.00,28.33,1.232,11270,0.030,0.000,2902,2116,1915,1915,4094,0,0,0,0,0,0,25.76,25.94,23.40,10.28,51.10
$GC,598,1.80,487.5,2902,2115,1915,4094,53.2,13.0,84,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2116,1914,1914,4094,0,0,0,0,0,0,25.75,25.77,25.76,10.16,50.00
$GC,640,1.80,487.5,2902,2112,1913,4094,47.3,15.4,90,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2113,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.16,50.11
$GC,682,1.80,487.5,2902,2112,1912,4094,41.5,14.1,96,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2113,1912,1912,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.15,49.72
$GC,724,1.80,487.5,2901,2112,1911,4094,35.4,14.7,102,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2112,1911,1911,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.14,49.64
$GC,766,1.80,487.5,2901,2112,1909,4094,29.5,13.9,108,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2112,1909,1909,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.14,49.88
$GC,807,1.80,487.5,2901,2112,1908,4094,24.1,12.2,114,814,0.00,0.98,0.00,0.000,516,0.000,0.048,2902,1736,1908,1908,4094,0,0,0,0,0,0,26.36,25.83,26.36,10.16,49.96
$GC,964,1.80,487.5,2901,1736,1904,4094,6.5,13.1,139,970,0.00,0.95,0.00,0.000,1030,0.000,0.031,2902,2129,1903,1903,4094,0,0,0,0,0,0,26.16,26.13,26.19,10.19,52.79
$STATE,994,end climb,FINISH_DEPTH_REACHED
$STATE,994,begin subsurface finish
$FINISH1,1.6,1.024604,69
$GC,1009,0.10,69.4,2901,2130,1902,4094,1.6,13.1,144,1023,5.28,0.00,-4.50,0.000,20486,0.021,0.000,2375,2130,2409,2409,4094,0,0,0,0,0,0,26.22,24.37,26.27,10.20,53.26
$FINISH2,0.2
$STATE,1024,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1024,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,152906
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.46
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.40,92.259
$10V_AH,10.17,80.879
$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,22.850,8.400,57.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,382.409,235.998,124.695,211.686,131.811,0.000,281.494,0.000,221.529,0.000,0.543,0.000
$DEVICE_MAMPS,61.965,1219.410,1255.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,10801,146
$CAP_FILE_SIZE,23807,0
$CFSIZE,1024409600,890290176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,153618,5837.124,-17004.264,7,0.8,19,8.8,1.0,93.6,11,4.9