version: 66.13
glider: 401
mission: 22
dive: 3181
start: 9 19 117 19 3 12
data:
$ID,401
$MISSION,22
$DIVE,3181
$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,46
$R_STBD_OVSHOOT,25
$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
$GPS1,190917,185221,5835.3682,-17001.2676,5,0.9,50,8.8,2.1,236.2,9,10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-38.5
$GPS2,190917,190227,5835.3755,-17001.2227,7,0.9,16,8.8,0.5,271.0,9,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W3S
$TGT_LATLONG,5803.150,-16922.180
$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,138.5,70893,-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,12,-1.80,-487.5,240,1941,1786,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.091,0.000,721,1934,1786,1786,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.22,52.12
$GC,27,-1.80,-487.5,721,1941,1785,4094,0.9,0.0,1,58,10.98,1.27,-11.50,0.000,18692,0.044,1.206,1757,2376,3056,3056,4094,0,0,0,0,0,0,25.97,23.58,26.05,10.22,52.20
$GC,206,-1.80,-487.5,1756,2377,3060,4094,19.5,-17.2,29,212,0.00,1.02,0.00,0.000,1030,0.000,0.030,1757,1968,3060,3060,4094,0,0,0,0,0,0,26.11,26.08,26.15,10.49,52.44
$GC,248,-1.80,-487.5,1756,1968,3061,4094,26.5,-16.6,35,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1969,3061,3061,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.49,52.00
$GC,290,-1.80,-487.5,1756,1968,3062,4095,32.1,-12.2,41,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1969,3062,3062,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.47,52.04
$GC,332,-1.80,-487.5,1756,1968,3063,4095,37.7,-13.0,47,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3063,3063,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.45,52.20
$GC,374,-1.80,-487.5,1756,1968,3064,4095,43.5,-14.0,53,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3064,3064,4094,0,0,0,0,0,0,26.61,26.62,26.62,10.44,50.94
$GC,416,-1.80,-487.5,1756,1968,3065,4094,49.4,-14.2,59,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1969,3065,3065,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.43,51.14
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,466,-0.45,0.0,1757,2149,3066,4094,55.3,-14.3,65,507,4.57,0.00,28.90,1.250,10244,0.054,0.000,2184,2149,2484,2484,4094,0,0,0,0,0,0,26.06,25.04,23.67,10.42,49.76
$STATE,508,end apogee,CONTROL_FINISHED_OK
$STATE,508,begin climb
$GC,515,1.80,487.5,2184,2149,2484,4094,59.6,0.0,72,556,7.40,0.00,28.38,1.232,11270,0.028,0.000,2900,2149,1916,1916,4095,0,0,0,0,0,0,25.74,25.94,23.37,10.31,49.84
$GC,592,1.80,487.5,2899,2149,1915,4095,53.4,12.9,84,599,0.00,1.17,0.00,0.000,516,0.000,0.045,2900,1710,1915,1915,4095,0,0,0,0,0,0,25.75,25.32,25.76,10.17,48.30
$GC,695,1.80,487.5,2899,1709,1912,4095,39.6,13.9,100,702,0.00,1.00,0.00,0.000,1030,0.000,0.030,2900,2117,1911,1911,4094,0,0,0,0,0,0,25.84,25.80,25.86,10.16,48.74
$GC,738,1.80,487.5,2899,2117,1910,4094,33.7,14.0,106,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2118,1910,1910,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,48.81
$GC,780,1.80,487.5,2899,2117,1909,4094,28.1,13.1,112,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2117,1908,1908,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.17,49.25
$GC,821,1.80,487.5,2899,2117,1908,4094,23.0,11.5,118,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2117,1908,1908,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.20,50.59
$GC,863,1.80,487.5,2899,2117,1906,4094,18.3,11.6,124,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2117,1906,1906,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.21,51.22
$GC,905,1.80,487.5,2899,2117,1905,4094,13.3,11.6,130,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2117,1905,1905,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.21,52.44
$GC,947,2.05,654.8,2900,2117,1904,4094,9.3,8.3,136,960,0.75,0.00,9.98,0.629,10246,0.027,0.000,2983,2117,1720,1720,4094,0,0,0,0,0,0,26.22,25.24,24.25,10.21,52.32
$GC,996,2.05,654.8,2982,2117,1719,4094,3.2,13.8,143,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2117,1718,1718,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.18,52.08
$STATE,1007,end climb,FINISH_DEPTH_REACHED
$STATE,1007,begin subsurface finish
$FINISH1,0.4,1.024580,71
$GC,1022,0.11,71.1,2983,2117,1718,4094,0.4,15.8,145,1041,6.15,0.00,-5.95,0.000,20486,0.024,0.000,2374,2118,2406,2406,4094,0,0,0,0,0,0,26.12,25.52,26.15,10.18,52.36
$FINISH2,0.2
$STATE,1042,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1042,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,174635
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.67
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.37,92.487
$10V_AH,9.98,80.985
$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,35.500,4.925,67.250,0.000,0.000,24.661,17.656,309.690,0.000,0.000,17.659,383.361,216.177,156.706,486.393,416.743,0.000,330.096,0.000,225.951,0.000,0.543,0.000
$DEVICE_MAMPS,91.035,1206.405,1250.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10884,148
$CAP_FILE_SIZE,29789,0
$CFSIZE,1024409600,889896960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190917,190227,5835.375,-17001.223,7,0.9,16,8.8,0.5,271.0,9,4.7