version: 66.13
glider: 401
mission: 22
dive: 3177
start: 9 19 117 17 22 53
data:
$ID,401
$MISSION,22
$DIVE,3177
$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,26
$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
$GPS1,190917,164444,5836.7505,-17003.0215,6,1.2,52,8.8,0.4,316.8,8,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-0.2
$GPS2,190917,164444,5836.7505,-17003.0215,6,1.2,52,8.8,0.4,316.8,8,3.6
$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,145.3,11595,-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,-487.5,2375,1956,2408,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,4097,0.017,0.000,1804,1956,2408,2408,4094,0,0,0,0,0,0,26.61,28.83,28.83,10.32,53.70
$GC,27,-1.80,-487.5,1803,1956,2407,4094,0.4,0.0,1,41,0.17,1.20,-5.90,0.000,20740,0.051,1.207,1773,2381,3057,3057,4094,0,0,0,0,0,0,26.36,23.78,26.38,10.33,54.21
$GC,166,-1.80,-487.5,1773,2381,3060,4094,16.2,-16.6,22,173,0.00,1.05,0.00,0.000,1030,0.000,0.032,1773,1960,3060,3060,4095,0,0,0,0,0,0,26.19,26.15,26.22,10.46,53.66
$GC,209,-1.80,-487.5,1773,1959,3062,4095,24.0,-16.6,28,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1959,3062,3062,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.47,53.22
$GC,251,-1.80,-487.5,1772,1959,3062,4095,29.9,-11.9,34,257,0.00,1.10,0.00,0.000,516,0.000,0.052,1773,1525,3062,3062,4095,0,0,0,0,0,0,26.63,26.04,26.64,10.46,53.15
$GC,317,-1.80,-487.5,1773,1525,3064,4095,38.1,-12.4,44,324,0.00,0.98,0.00,0.000,1030,0.000,0.027,1773,1945,3064,3064,4095,0,0,0,0,0,0,26.33,26.30,26.35,10.42,52.28
$GC,360,-1.80,-487.5,1773,1945,3065,4095,43.5,-12.8,50,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1945,3065,3065,4095,0,0,0,0,0,0,26.67,26.69,26.69,10.41,52.08
$GC,402,-1.80,-487.5,1773,1945,3066,4095,48.8,-13.1,56,408,0.00,1.10,0.00,0.000,260,0.000,0.046,1773,2368,3066,3066,4094,0,0,0,0,0,0,26.69,26.13,26.70,10.41,51.45
$STATE,450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,450,begin apogee
$GC,465,-0.45,0.0,1773,2114,3069,4094,55.4,-13.0,64,501,4.38,0.00,28.80,1.255,10244,0.053,0.000,2186,2112,2484,2484,4094,0,0,0,0,0,0,26.13,25.10,23.74,10.40,51.65
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,508,1.80,487.5,2186,2112,2484,4094,59.2,0.0,70,550,7.40,0.00,28.17,1.234,11270,0.029,0.000,2901,2112,1916,1916,4094,0,0,0,0,0,0,25.76,25.95,23.41,10.28,51.02
$GC,586,1.80,487.5,2900,2113,1915,4094,53.3,12.5,82,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2113,1915,1915,4094,0,0,0,0,0,0,25.75,25.77,25.77,10.16,49.40
$GC,628,1.80,487.5,2901,2112,1914,4094,47.6,13.6,88,634,0.00,1.00,0.00,0.000,516,0.000,0.047,2901,1731,1914,1914,4095,0,0,0,0,0,0,25.96,25.52,25.98,10.16,49.44
$GC,707,1.80,487.5,2901,1731,1911,4095,36.6,14.2,100,713,0.00,0.98,0.00,0.000,1030,0.000,0.031,2901,2129,1911,1911,4094,0,0,0,0,0,0,25.87,25.84,25.90,10.15,49.64
$GC,749,1.80,487.5,2900,2128,1910,4094,30.5,14.5,106,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1910,1910,4094,0,0,0,0,0,0,26.29,26.29,26.29,10.15,50.51
$GC,791,1.80,487.5,2901,2128,1908,4094,25.1,13.0,112,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1908,1908,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.17,50.07
$GC,833,1.80,487.5,2901,2128,1907,4095,20.2,11.9,118,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1908,1908,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.18,51.77
$GC,875,1.80,487.5,2901,2128,1906,4094,15.5,11.1,124,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1906,1906,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.19,52.00
$GC,916,1.80,487.5,2901,2128,1905,4094,10.5,12.1,130,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1905,1905,4094,0,0,0,0,0,0,26.49,26.50,26.50,10.20,52.40
$GC,958,1.80,487.5,2901,2128,1903,4094,5.5,12.5,136,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1903,1903,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.20,53.22
$STATE,987,end climb,SURFACE_DEPTH_REACHED
$STATE,988,begin surface coast
$FINISH,0.1,1.002635
$STATE,1001,end surface coast,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$SM_CCo,1111,0.00,0.000,0,0,1902,500.56
$SM_GC,1.05,27.38,0.40,0.00,0.021,0.044,0.000,232,1969,1902,-6.59,2.28,500.56,0,0,0,0,0,0,26.02,26.20,26.10
$IRIDIUM_FIX,5807.44,-16912.56,190917,153040
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.95
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.41,92.360
$10V_AH,10.17,80.928
$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,44.975,8.775,56.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,384.083,284.635,151.545,207.550,154.653,0.000,309.094,0.000,217.110,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1207.170,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.401,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333716
$DATA_FILE_SIZE,10806,143
$CAP_FILE_SIZE,26483,0
$CFSIZE,1024409600,890093568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,174236,5836.168,-17002.109,4,0.9,24,8.8,0.4,33.2,9,5.0