version: 66.13
glider: 401
mission: 22
dive: 3185
start: 9 19 117 20 35 35
data:
$ID,401
$MISSION,22
$DIVE,3185
$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,30
$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
$GPS1,190917,201519,5834.4814,-17000.9629,7,0.9,39,8.8,0.6,157.8,9,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-0.2
$GPS2,190917,201519,5834.4814,-17000.9629,7,0.9,39,8.8,0.6,157.8,9,5.0
$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,138.0,69365,-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,-487.5,2366,1944,2409,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,4097,0.023,0.000,1804,1950,2408,2408,4094,0,0,0,0,0,0,26.62,28.83,28.83,10.33,52.67
$GC,27,-1.80,-487.5,1803,1944,2408,4094,0.4,0.0,1,40,0.17,1.20,-5.90,0.000,20740,0.048,1.215,1771,2374,3055,3055,4094,0,0,0,0,0,0,26.39,23.77,26.40,10.33,53.38
$GC,142,-1.80,-487.5,1771,2375,3057,4094,9.4,-15.1,19,149,0.00,1.05,0.00,0.000,1030,0.000,0.031,1771,1954,3057,3057,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.47,53.34
$GC,185,-1.80,-487.5,1770,1954,3059,4094,17.1,-17.8,25,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3059,3059,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.48,53.58
$GC,227,-1.80,-487.5,1770,1954,3060,4095,24.1,-17.3,31,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3060,3060,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.48,53.07
$GC,269,-1.80,-487.5,1770,1954,3061,4094,30.5,-14.4,37,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3061,3061,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.46,52.55
$GC,310,-1.80,-487.5,1770,1954,3062,4095,36.0,-13.0,43,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3063,3063,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.44,52.24
$GC,352,-1.80,-487.5,1770,1954,3063,4095,41.6,-13.4,49,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3063,3063,4095,0,0,0,0,0,0,26.68,26.70,26.69,10.43,51.53
$GC,394,-1.80,-487.5,1770,1954,3065,4095,47.2,-13.5,55,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3065,3065,4095,0,0,0,0,0,0,26.70,26.71,26.70,10.42,51.96
$GC,436,-1.80,-487.5,1770,1954,3066,4095,53.1,-14.6,61,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1954,3066,3066,4094,0,0,0,0,0,0,26.71,26.72,26.72,10.41,51.29
$STATE,446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,461,-0.45,0.0,1770,2144,3066,4095,55.6,-13.9,63,497,4.40,0.00,28.80,1.247,10244,0.052,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.14,25.11,23.74,10.41,51.06
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,505,1.80,487.5,2186,2144,2484,4094,58.9,0.0,69,546,7.38,0.00,28.02,1.223,11270,0.027,0.000,2901,2144,1915,1915,4094,0,0,0,0,0,0,25.77,25.96,23.42,10.30,50.03
$GC,582,1.80,487.5,2900,2144,1915,4094,52.5,12.9,81,589,0.00,1.15,0.00,0.000,516,0.000,0.048,2901,1717,1914,1914,4094,0,0,0,0,0,0,25.78,25.34,25.79,10.17,48.81
$GC,745,1.80,487.5,2901,1717,1910,4094,30.2,14.2,107,752,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2127,1909,1909,4094,0,0,0,0,0,0,25.96,25.92,25.99,10.16,49.80
$GC,788,1.80,487.5,2901,2126,1908,4094,25.0,11.5,113,795,0.00,1.17,0.00,0.000,260,0.000,0.054,2901,2563,1908,1908,4095,0,0,0,0,0,0,26.36,25.80,26.38,10.17,49.92
$GC,848,1.80,487.5,2901,2563,1908,4095,18.3,11.3,122,855,0.00,1.00,0.00,0.000,1030,0.000,0.026,2901,2153,1907,1907,4094,0,0,0,0,0,0,26.13,26.09,26.14,10.19,52.00
$GC,891,1.80,487.5,2901,2153,1905,4094,13.1,12.4,128,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2153,1905,1905,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.20,52.40
$GC,933,1.80,487.5,2901,2153,1904,4094,8.1,11.9,134,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2153,1904,1904,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.20,53.07
$GC,975,1.80,487.5,2901,2147,1903,4094,3.2,12.8,140,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2147,1903,1903,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.20,52.71
$STATE,986,end climb,FINISH_DEPTH_REACHED
$STATE,986,begin subsurface finish
$FINISH1,1.3,1.024597,70
$GC,1001,0.10,69.8,2901,2145,1902,4094,1.3,11.0,142,1014,5.25,0.00,-4.40,0.000,20998,0.019,0.000,2368,2145,2410,2410,4094,0,0,0,0,0,0,26.24,24.38,26.29,10.20,52.91
$FINISH2,0.3
$STATE,1015,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1015,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,200818
$TT8_MAMPS,0.026215,0.104111
$HUMID,53.74
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.42,92.591
$10V_AH,10.17,81.035
$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,22.850,7.475,56.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.659,221.939,131.939,208.899,137.839,0.000,291.670,0.000,218.656,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1214.820,1246.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333804
$DATA_FILE_SIZE,10786,144
$CAP_FILE_SIZE,24819,0
$CFSIZE,1024409600,889700352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,201519,5834.481,-17000.963,7,0.9,39,8.8,0.6,157.8,9,5.0