version: 66.13
glider: 401
mission: 22
dive: 3188
start: 9 19 117 21 46 34
data:
$ID,401
$MISSION,22
$DIVE,3188
$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,28
$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
$GPS1,190917,212626,5833.6396,-17001.1895,7,0.8,19,8.8,0.8,250.8,11,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-4.8
$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,-487.5,2366,1942,2408,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.021,0.000,1804,1943,2408,2408,4094,0,0,0,0,0,0,26.63,28.83,28.83,10.33,52.95
$GC,27,-1.80,-487.5,1803,1942,2408,4094,0.3,0.0,1,40,0.17,1.23,-5.85,0.000,20740,0.049,1.213,1771,2376,3055,3055,4095,0,0,0,0,0,0,26.39,23.79,26.41,10.33,53.15
$GC,154,-1.80,-487.5,1770,2376,3058,4095,14.4,-15.9,20,161,0.00,1.05,0.00,0.000,1030,0.000,0.031,1771,1952,3058,3058,4094,0,0,0,0,0,0,26.19,26.15,26.22,10.47,52.79
$GC,197,-1.80,-487.5,1770,1952,3059,4094,22.1,-15.9,26,203,0.00,1.08,0.00,0.000,516,0.000,0.052,1771,1526,3060,3060,4095,0,0,0,0,0,0,26.62,26.03,26.63,10.47,52.91
$GC,239,-1.80,-487.5,1770,1526,3061,4095,28.8,-15.3,32,246,0.00,0.98,0.00,0.000,1030,0.000,0.028,1771,1943,3061,3061,4095,0,0,0,0,0,0,26.30,26.28,26.32,10.47,52.99
$GC,282,-1.80,-487.5,1770,1943,3061,4095,34.3,-13.0,38,289,0.00,1.10,0.00,0.000,260,0.000,0.046,1770,2366,3062,3062,4095,0,0,0,0,0,0,26.65,26.10,26.67,10.44,52.48
$GC,348,-1.80,-487.5,1770,2366,3063,4095,43.0,-13.4,48,355,0.00,1.05,0.00,0.000,1030,0.000,0.031,1770,1944,3063,3063,4095,0,0,0,0,0,0,26.27,26.23,26.29,10.42,51.92
$GC,391,-1.80,-487.5,1770,1944,3064,4095,48.6,-13.5,54,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1944,3065,3065,4094,0,0,0,0,0,0,26.70,26.71,26.70,10.42,51.57
$GC,433,-1.80,-487.5,1770,1944,3066,4094,54.0,-13.5,60,440,0.00,1.05,0.00,0.000,516,0.000,0.052,1770,1526,3066,3066,4094,0,0,0,0,0,0,26.71,26.10,26.72,10.42,51.57
$STATE,444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,445,begin apogee
$GC,460,-0.45,0.0,1770,2132,3066,4095,56.3,-12.9,62,496,4.40,0.00,28.80,1.259,10244,0.051,0.000,2185,2133,2484,2484,4095,0,0,0,0,0,0,26.15,25.10,23.73,10.41,50.94
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,504,1.80,487.5,2184,2132,2484,4095,60.0,0.0,68,546,7.38,1.15,28.45,1.232,10500,0.027,0.053,2903,2566,1915,1915,4094,0,0,0,0,0,0,25.61,25.55,23.41,10.29,50.70
$GC,558,1.80,487.5,2902,2565,1915,4094,56.3,11.0,76,565,0.00,1.10,0.00,0.000,1030,0.000,0.026,2903,2133,1915,1915,4094,0,0,0,0,0,0,25.37,25.34,25.38,10.17,49.13
$GC,601,1.80,487.5,2902,2132,1914,4094,50.6,14.0,82,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1914,1914,4094,0,0,0,0,0,0,25.86,25.88,25.88,10.16,49.09
$GC,643,1.80,487.5,2902,2132,1913,4094,44.6,14.2,88,650,0.00,1.08,0.00,0.000,516,0.000,0.048,2903,1719,1912,1912,4094,0,0,0,0,0,0,26.04,25.57,26.06,10.16,49.76
$GC,764,1.80,487.5,2902,1719,1908,4094,27.8,13.3,107,770,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2139,1908,1908,4094,0,0,0,0,0,0,25.98,25.95,26.01,10.16,50.47
$GC,807,1.83,508.0,2902,2139,1907,4094,23.1,10.5,113,813,0.00,0.00,2.67,0.254,8198,0.000,0.000,2903,2139,1891,1891,4094,0,0,0,0,0,0,26.39,24.89,23.68,10.18,50.90
$GC,849,1.83,508.0,2902,2139,1890,4094,18.0,11.6,119,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1889,1889,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.19,51.85
$GC,891,1.83,508.0,2902,2138,1889,4094,13.3,10.9,125,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1889,1889,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.19,52.48
$GC,933,1.83,508.0,2902,2139,1887,4094,7.9,13.0,131,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1887,1887,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.20,52.48
$GC,975,1.83,508.0,2902,2139,1886,4094,2.1,13.9,137,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2139,1886,1886,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.20,52.99
$STATE,986,end climb,FINISH_DEPTH_REACHED
$STATE,986,begin subsurface finish
$FINISH1,0.1,1.003225,0
$GC,1001,0.00,0.0,2903,2146,1886,4094,0.1,12.3,139,1020,5.55,1.23,-5.28,0.000,20996,0.019,1.206,2339,1712,2491,2491,4095,0,0,0,0,0,0,26.27,23.76,26.32,10.20,52.91
$FINISH2,0.2
$STATE,1021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,211950
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.22
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.41,92.673
$10V_AH,10.17,81.074
$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,23.125,15.100,59.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.673,210.664,141.029,206.810,149.589,0.000,303.416,0.000,215.934,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,1212.525,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,10803,142
$CAP_FILE_SIZE,26838,0
$CFSIZE,1024409600,889552896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,212626,5833.640,-17001.189,7,0.8,19,8.8,0.8,250.8,11,4.9