version: 66.13
glider: 401
mission: 22
dive: 3080
start: 9 18 117 3 57 53
data:
$ID,401
$MISSION,22
$DIVE,3080
$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,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
$GPS1,180917,033801,5849.3643,-17018.9824,5,0.7,18,8.7,0.0,33.0,12,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-1.9
$GPS2,180917,033801,5849.3643,-17018.9824,5,0.7,18,8.7,0.0,33.0,12,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,140.0,39524,-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,13,-1.80,-487.5,2374,1939,2406,4092,0.0,0.0,0,24,6.12,0.00,-2.28,0.000,20482,0.021,0.000,1759,1939,2840,2840,4094,0,0,0,0,0,0,26.20,28.83,26.24,10.32,52.95
$GC,31,-1.80,-487.5,1758,1939,2840,4094,3.5,0.0,1,40,0.00,0.00,-1.05,0.000,16390,0.000,0.000,1759,1940,3063,3063,4095,0,0,0,0,0,0,26.49,25.47,26.40,10.40,52.59
$GC,80,-1.80,-487.5,1758,1939,3065,4095,10.6,-17.0,7,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1939,3064,3064,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.45,52.95
$GC,128,-1.80,-487.5,1758,1939,3066,4094,19.3,-17.1,13,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1940,3067,3067,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.46,53.07
$GC,177,-1.80,-487.5,1758,1939,3068,4094,26.9,-13.3,19,186,0.00,1.17,0.00,0.000,260,0.000,0.046,1759,2375,3068,3068,4095,0,0,0,0,0,0,26.48,25.95,26.50,10.43,52.91
$GC,265,-1.80,-487.5,1758,2375,3070,4095,39.0,-13.8,31,275,0.00,1.05,0.00,0.000,1030,0.000,0.031,1759,1955,3070,3070,4095,0,0,0,0,0,0,26.16,26.13,26.20,10.40,51.57
$GC,315,-1.80,-487.5,1758,1955,3071,4095,46.1,-13.8,37,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1955,3071,3071,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.39,50.78
$GC,364,-1.80,-487.5,1758,1955,3073,4095,53.1,-14.4,43,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1956,3073,3073,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.39,51.14
$STATE,380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,380,begin apogee
$GC,394,-0.45,0.0,1759,2143,3073,4094,56.4,-14.7,45,438,4.55,0.00,29.27,1.273,10244,0.054,0.000,2185,2143,2484,2484,4095,0,0,0,0,0,0,26.06,24.62,23.74,10.38,50.23
$STATE,439,end apogee,CONTROL_FINISHED_OK
$STATE,440,begin climb
$GC,446,1.80,487.5,2184,2143,2483,4095,61.1,0.0,50,491,7.47,0.00,28.20,1.250,11270,0.030,0.000,2901,2143,1923,1923,4094,0,0,0,0,0,0,25.70,25.91,23.39,10.26,49.80
$GC,533,1.80,487.5,2901,2142,1922,4094,54.7,12.7,60,542,0.00,0.00,2.12,0.095,8198,0.000,0.000,2901,2143,1918,1918,4094,0,0,0,0,0,0,25.76,24.04,23.13,10.14,48.30
$GC,584,1.80,487.5,2901,2142,1917,4094,47.7,13.7,66,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2143,1916,1916,4094,0,0,0,0,0,0,26.00,26.01,26.00,10.14,48.58
$GC,635,1.80,487.5,2901,2142,1915,4094,40.8,13.8,72,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2143,1915,1915,4095,0,0,0,0,0,0,26.14,26.15,26.15,10.13,49.17
$GC,685,1.80,487.5,2901,2143,1914,4095,33.9,13.3,78,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2143,1913,1913,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.12,48.85
$GC,736,1.80,487.5,2901,2142,1912,4094,27.2,13.1,84,745,0.00,1.15,0.00,0.000,516,0.000,0.047,2901,1709,1912,1912,4094,0,0,0,0,0,0,26.34,25.84,26.34,10.12,49.09
$GC,820,1.80,487.5,2901,1708,1910,4094,16.9,11.3,95,829,0.00,1.02,0.00,0.000,1030,0.000,0.028,2901,2132,1909,1909,4094,0,0,0,0,0,0,26.08,26.06,26.11,10.16,50.15
$GC,872,1.87,534.8,2901,2132,1908,4094,11.6,10.1,101,882,0.15,0.00,3.97,0.413,10246,0.059,0.000,2929,2133,1862,1862,4094,0,0,0,0,0,0,26.24,24.60,23.95,10.17,51.61
$GC,924,1.87,534.8,2928,2132,1861,4094,5.2,12.5,107,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2132,1861,1861,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.17,52.28
$STATE,947,end climb,FINISH_DEPTH_REACHED
$STATE,947,begin subsurface finish
$FINISH1,1.8,1.024593,70
$GC,962,0.11,70.1,2929,2132,1860,4094,1.8,10.9,110,981,5.57,1.23,-4.93,0.000,20996,0.023,1.216,2371,1714,2405,2405,4095,0,0,0,0,0,0,26.21,23.68,26.26,10.17,52.52
$FINISH2,0.3
$STATE,982,end subsurface finish,CONTROL_FINISHED_OK
$STATE,982,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,180917,032817
$TT8_MAMPS,0.026215,0.247919
$HUMID,53.03
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.13,89.677
$10V_AH,9.85,79.143
$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,23.875,6.575,63.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,327.875,0.000,113.019,467.665,136.523,0.000,322.127,0.000,276.008,0.000,0.543,0.000
$DEVICE_MAMPS,58.905,1216.350,1272.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,75.510,304.293,240.802,357.129,465.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333724
$DATA_FILE_SIZE,10853,112
$CAP_FILE_SIZE,23047,0
$CFSIZE,1024409600,894861312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180917,033801,5849.364,-17018.982,5,0.7,18,8.7,0.0,33.0,12,4.9