version: 66.13
glider: 401
mission: 22
dive: 3187
start: 9 19 117 21 27 11
data:
$ID,401
$MISSION,22
$DIVE,3187
$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,31
$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
$GPS1,190917,211426,5833.6841,-17001.1152,5,0.8,17,8.8,0.6,228.2,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-41.9
$GPS2,190917,212626,5833.6396,-17001.1895,7,0.8,19,8.8,0.8,250.8,11,4.9
$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,137.1,68190,-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,-487.5,230,1948,1834,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.076,0.000,726,1949,1834,1834,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.22,53.34
$GC,27,-1.80,-487.5,726,1948,1834,4094,0.7,0.0,1,58,10.90,1.27,-11.02,0.000,18692,0.044,1.206,1756,2380,3056,3056,4095,0,0,0,0,0,0,26.02,23.61,26.08,10.22,52.87
$GC,188,-1.80,-487.5,1755,2380,3060,4095,18.5,-16.4,26,195,0.00,1.08,0.00,0.000,1030,0.000,0.029,1756,1952,3060,3060,4094,0,0,0,0,0,0,26.10,26.08,26.13,10.49,52.36
$GC,231,-1.80,-487.5,1755,1951,3061,4094,25.9,-17.3,32,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1952,3061,3061,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.49,52.12
$GC,273,-1.80,-487.5,1755,1952,3062,4095,32.2,-14.5,38,279,0.00,1.15,0.00,0.000,260,0.000,0.045,1756,2380,3062,3062,4094,0,0,0,0,0,0,26.55,25.98,26.56,10.47,51.89
$GC,339,-1.80,-487.5,1756,2379,3064,4094,41.3,-13.9,48,346,0.00,1.02,0.00,0.000,1030,0.000,0.030,1756,1971,3064,3064,4094,0,0,0,0,0,0,26.21,26.18,26.24,10.44,51.02
$GC,382,-1.80,-487.5,1755,1971,3065,4094,47.3,-14.4,54,389,0.00,1.15,0.00,0.000,516,0.000,0.052,1756,1520,3065,3065,4095,0,0,0,0,0,0,26.62,26.00,26.63,10.43,51.37
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,452,-0.45,0.0,1756,2140,3066,4095,55.8,-13.6,63,493,4.60,0.00,28.88,1.261,10244,0.054,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.06,25.01,23.68,10.42,50.00
$STATE,494,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,501,1.80,487.5,2186,2140,2484,4094,60.3,0.0,70,542,7.43,0.00,28.42,1.242,11270,0.028,0.000,2900,2141,1915,1915,4094,0,0,0,0,0,0,25.74,25.93,23.35,10.30,50.39
$GC,579,1.80,487.5,2900,2140,1914,4094,54.3,13.4,82,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2140,1914,1914,4095,0,0,0,0,0,0,25.75,25.76,25.76,10.18,48.18
$GC,620,1.80,487.5,2900,2140,1913,4095,48.0,14.6,88,627,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1707,1913,1913,4094,0,0,0,0,0,0,25.96,25.50,25.97,10.18,48.81
$GC,783,1.80,487.5,2900,1707,1908,4094,27.2,13.4,114,789,0.00,1.05,0.00,0.000,1030,0.000,0.029,2901,2139,1908,1908,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.17,49.76
$GC,826,1.80,487.5,2900,2138,1907,4094,22.2,11.2,120,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2138,1907,1907,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.19,50.07
$GC,868,1.85,515.2,2900,2138,1906,4094,17.8,10.4,126,875,0.00,0.00,2.95,0.297,8198,0.000,0.000,2901,2139,1883,1883,4094,0,0,0,0,0,0,26.46,24.96,23.80,10.20,51.41
$GC,911,1.85,515.2,2900,2138,1882,4094,12.7,11.7,132,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1882,1882,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.20,51.89
$GC,952,1.85,515.2,2900,2138,1881,4094,7.6,11.9,138,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2138,1881,1881,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.21,52.40
$GC,994,1.85,515.2,2900,2138,1879,4094,2.5,11.9,144,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1879,1879,4094,0,0,0,0,0,0,26.54,26.56,26.55,10.21,53.42
$STATE,1005,end climb,FINISH_DEPTH_REACHED
$STATE,1005,begin subsurface finish
$FINISH1,0.6,1.024598,70
$GC,1020,0.10,69.8,2900,2138,1879,4094,0.6,10.7,146,1034,5.22,0.00,-4.65,0.000,20486,0.020,0.000,2367,2139,2408,2408,4094,0,0,0,0,0,0,26.29,24.37,26.34,10.21,52.79
$FINISH2,0.2
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,211950
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.95
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.35,92.652
$10V_AH,9.98,81.064
$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,33.775,9.450,60.250,0.000,0.000,84.989,68.532,214.404,0.000,0.000,20.597,389.087,318.538,142.240,550.541,365.413,0.000,309.878,0.000,226.104,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1206.405,1260.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333544
$DATA_FILE_SIZE,10816,148
$CAP_FILE_SIZE,29708,0
$CFSIZE,1024409600,889602048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190917,212626,5833.640,-17001.189,7,0.8,19,8.8,0.8,250.8,11,4.9