version: 66.13
glider: 401
mission: 22
dive: 3189
start: 9 19 117 22 5 44
data:
$ID,401
$MISSION,22
$DIVE,3189
$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,32
$R_STBD_OVSHOOT,34
$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,0.19
$_SM_ANGLEo,-1.8
$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,-487.5,2338,1971,2491,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.023,0.000,1778,1971,2491,2491,4094,0,0,0,0,0,0,26.55,28.83,28.83,10.35,53.70
$GC,26,-1.80,-487.5,1778,1964,2491,4094,0.3,0.0,1,39,0.00,1.17,-4.82,0.000,16644,0.000,1.213,1779,2367,3057,3057,4094,0,0,0,0,0,0,26.54,23.72,26.55,10.34,53.11
$GC,159,-1.80,-487.5,1778,2366,3061,4094,17.5,-17.3,22,166,0.00,1.02,0.00,0.000,1030,0.000,0.030,1779,1960,3061,3061,4095,0,0,0,0,0,0,26.17,26.15,26.20,10.47,52.99
$GC,202,-1.80,-487.5,1778,1959,3062,4095,24.7,-16.5,28,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1959,3062,3062,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.46,53.38
$GC,244,-1.80,-487.5,1778,1959,3063,4094,31.4,-15.7,34,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1959,3063,3063,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.45,53.42
$GC,285,-1.80,-487.5,1778,1959,3064,4095,37.2,-13.2,40,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1959,3064,3064,4094,0,0,0,0,0,0,26.62,26.63,26.62,10.43,52.87
$GC,327,-1.80,-487.5,1778,1959,3065,4094,42.9,-13.8,46,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1959,3065,3065,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.41,52.67
$GC,369,-1.80,-487.5,1778,1959,3066,4094,48.4,-12.6,52,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1959,3067,3067,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.42,51.73
$GC,411,-1.80,-487.5,1778,1959,3067,4095,54.3,-14.4,58,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1959,3068,3068,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.41,51.57
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,436,-0.45,0.0,1778,2143,3068,4094,56.4,-13.4,60,472,4.35,0.00,28.88,1.256,10244,0.053,0.000,2186,2143,2484,2484,4095,0,0,0,0,0,0,26.11,25.10,23.75,10.41,51.29
$STATE,473,end apogee,CONTROL_FINISHED_OK
$STATE,473,begin climb
$GC,480,1.80,487.5,2186,2142,2484,4095,59.8,0.0,66,521,7.43,0.00,28.48,1.236,11270,0.028,0.000,2901,2143,1916,1916,4095,0,0,0,0,0,0,25.74,25.92,23.39,10.29,50.51
$GC,557,1.80,487.5,2901,2142,1915,4095,53.8,13.3,78,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1915,1915,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.16,49.48
$GC,599,1.80,487.5,2901,2142,1913,4094,47.8,15.1,84,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.16,49.44
$GC,641,1.80,487.5,2901,2142,1912,4094,41.9,14.7,90,648,0.00,1.12,0.00,0.000,516,0.000,0.044,2902,1712,1912,1912,4094,0,0,0,0,0,0,26.11,25.65,26.12,10.16,49.13
$GC,744,1.80,487.5,2901,1712,1909,4094,28.4,12.0,106,751,0.00,0.98,0.00,0.000,1030,0.000,0.028,2901,2116,1908,1908,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.15,50.03
$GC,787,1.87,530.9,2901,2116,1907,4094,24.0,10.1,112,795,0.10,0.00,3.92,0.476,10246,0.075,0.000,2924,2116,1864,1864,4094,0,0,0,0,0,0,26.17,25.02,23.85,10.18,51.45
$GC,831,1.87,530.9,2924,2116,1863,4094,18.9,11.8,118,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2116,1863,1863,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.18,51.69
$GC,872,1.87,530.9,2925,2116,1862,4094,13.8,12.3,124,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2116,1862,1862,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.19,52.48
$GC,914,1.87,530.9,2924,2116,1861,4094,8.9,12.1,130,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2116,1861,1861,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.19,52.71
$GC,956,1.87,530.9,2924,2116,1859,4095,3.4,14.1,136,963,0.00,1.08,0.00,0.000,516,0.000,0.046,2925,1706,1859,1859,4094,0,0,0,0,0,0,26.52,25.96,26.53,10.20,53.42
$STATE,967,end climb,SURFACE_DEPTH_REACHED
$STATE,968,begin surface coast
$FINISH,0.1,1.024570
$STATE,981,end surface coast,CONTROL_FINISHED_OK
$STATE,981,begin surface
$SM_CCo,1092,0.00,0.000,0,0,1858,537.48
$SM_GC,1.11,27.55,0.60,0.00,0.019,0.034,0.000,231,1952,1858,-6.59,-1.46,537.48,0,0,0,0,0,0,25.87,26.20,25.99
$IRIDIUM_FIX,5807.44,-16912.56,190917,211950
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.83
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.39,92.694
$10V_AH,10.17,81.085
$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,45.025,7.025,61.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.446,274.129,155.738,203.290,154.960,0.000,313.946,0.000,213.118,0.000,0.543,0.000
$DEVICE_MAMPS,74.970,1213.290,1256.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10785,140
$CAP_FILE_SIZE,26610,0
$CFSIZE,1024409600,889503744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,222522,5833.029,-17001.553,5,0.9,38,8.8,0.6,250.4,10,4.8