version: 66.13
glider: 401
mission: 22
dive: 3085
start: 9 18 117 5 59 6
data:
$ID,401
$MISSION,22
$DIVE,3085
$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,35
$R_STBD_OVSHOOT,21
$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
$GPS1,180917,054617,5848.4673,-17016.9395,5,0.7,32,8.7,0.8,186.1,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-35.8
$GPS2,180917,055821,5848.3774,-17016.7871,6,1.0,51,8.7,0.0,125.6,8,3.0
$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,141.4,36870,-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,-487.5,238,1939,1854,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.107,0.000,702,1941,1854,1854,4094,0,0,0,0,0,0,26.43,28.83,28.83,10.22,52.36
$GC,27,-1.80,-487.5,702,1940,1854,4094,1.0,0.0,1,57,11.45,1.27,-11.12,0.000,19204,0.057,1.200,1754,2380,3053,3053,4094,0,0,0,0,0,0,25.96,23.58,26.04,10.22,52.71
$GC,76,-1.80,-487.5,1754,2380,3054,4094,1.3,-4.0,8,82,0.00,1.05,0.00,0.000,1030,0.000,0.031,1754,1962,3055,3055,4094,0,0,0,0,0,0,25.97,25.94,26.01,10.48,52.52
$GC,118,-1.80,-487.5,1754,1962,3055,4094,6.9,-14.0,14,125,0.00,1.12,0.00,0.000,516,0.000,0.048,1754,1514,3055,3055,4095,0,0,0,0,0,0,26.40,25.86,26.41,10.48,52.04
$GC,363,-1.80,-487.5,1754,1514,3062,4095,44.6,-14.8,53,369,0.00,1.05,0.00,0.000,1030,0.000,0.027,1754,1960,3062,3062,4095,0,0,0,0,0,0,26.26,26.23,26.29,10.41,50.15
$GC,406,-1.80,-487.5,1754,1960,3064,4095,51.0,-14.8,59,412,0.00,1.15,0.00,0.000,516,0.000,0.050,1754,1518,3064,3064,4095,0,0,0,0,0,0,26.63,26.02,26.63,10.41,49.84
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,430,begin apogee
$GC,446,-0.45,0.0,1754,2132,3065,4094,55.6,-15.0,63,482,4.60,0.00,28.80,1.261,10244,0.054,0.000,2185,2132,2484,2484,4095,0,0,0,0,0,0,26.06,25.03,23.66,10.40,49.68
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,489,1.80,487.5,2185,2132,2484,4095,59.7,0.0,69,532,7.43,1.17,28.50,1.242,10500,0.030,0.053,2904,2572,1916,1916,4094,0,0,0,0,0,0,25.54,25.47,23.34,10.29,49.13
$GC,556,1.80,487.5,2904,2571,1915,4094,55.9,10.8,79,563,0.00,1.12,0.03,0.004,9222,0.000,0.026,2905,2131,1914,1914,4094,0,0,0,0,0,0,25.38,25.35,25.40,10.16,48.85
$GC,600,1.80,487.5,2904,2131,1914,4094,50.4,12.7,85,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2131,1914,1914,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.15,48.42
$GC,641,1.80,487.5,2904,2131,1913,4094,44.4,14.1,91,648,0.00,1.08,0.00,0.000,516,0.000,0.047,2905,1719,1912,1912,4094,0,0,0,0,0,0,26.03,25.56,26.05,10.15,48.07
$GC,756,1.80,487.5,2904,1718,1909,4094,28.8,14.1,109,762,0.00,1.00,0.00,0.000,1030,0.000,0.031,2905,2125,1908,1908,4095,0,0,0,0,0,0,25.94,25.91,25.97,10.13,48.85
$GC,799,1.80,487.5,2904,2125,1908,4095,23.2,12.6,115,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2125,1907,1907,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.14,49.48
$GC,841,1.85,517.9,2904,2124,1906,4095,19.0,10.3,121,848,0.00,0.00,3.17,0.346,8198,0.000,0.000,2905,2125,1879,1879,4094,0,0,0,0,0,0,26.41,24.94,23.78,10.17,49.76
$GC,883,1.85,517.9,2904,2124,1878,4094,13.8,12.0,127,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2125,1878,1878,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.18,50.70
$GC,925,1.85,517.9,2904,2124,1877,4094,8.8,11.7,133,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2125,1876,1876,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.19,51.92
$GC,967,1.85,517.9,2904,2125,1876,4094,4.0,11.0,139,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2126,1875,1875,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.19,52.91
$STATE,990,end climb,FINISH_DEPTH_REACHED
$STATE,990,begin subsurface finish
$FINISH1,1.4,1.024586,71
$GC,1006,0.11,70.6,2904,2125,1875,4094,1.4,9.0,143,1020,5.25,1.20,-4.40,0.000,20996,0.018,1.216,2370,1716,2409,2409,4095,0,0,0,0,0,0,26.21,23.70,26.26,10.19,52.32
$FINISH2,0.5
$STATE,1021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,180917,055022
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.83
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.34,89.822
$10V_AH,10.04,79.248
$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,34.350,12.775,60.500,0.000,0.000,53.618,45.126,278.668,0.000,0.000,52.226,388.107,269.535,139.644,575.710,382.665,0.000,303.943,0.000,221.683,0.000,0.542,0.000
$DEVICE_MAMPS,107.100,1215.585,1260.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333556
$DATA_FILE_SIZE,10794,145
$CAP_FILE_SIZE,30321,0
$CFSIZE,1024409600,894615552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180917,055821,5848.377,-17016.787,6,1.0,51,8.7,0.0,125.6,8,3.0