version: 66.13
glider: 401
mission: 22
dive: 3192
start: 9 19 117 23 17 48
data:
$ID,401
$MISSION,22
$DIVE,3192
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,190917,223908,5833.0171,-17001.6719,6,1.0,18,8.8,0.3,152.7,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-3.4
$GPS2,190917,223908,5833.0171,-17001.6719,6,1.0,18,8.8,0.3,152.7,10,4.9
$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,136.2,67509,-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,-487.5,2370,1940,2407,4093,0.0,0.0,0,19,5.68,0.00,0.00,0.000,4097,0.022,0.000,1800,1934,2407,2407,4094,0,0,0,0,0,0,26.63,28.83,28.83,10.32,53.58
$GC,27,-1.80,-487.5,1799,1939,2407,4094,0.3,0.0,1,40,0.15,1.25,-5.95,0.000,20740,0.064,1.217,1778,2374,3056,3056,4095,0,0,0,0,0,0,26.34,23.79,26.35,10.33,53.22
$GC,188,-1.80,-487.5,1778,2374,3061,4095,20.2,-15.5,26,195,0.00,1.05,0.00,0.000,1030,0.000,0.032,1778,1954,3061,3061,4095,0,0,0,0,0,0,26.21,26.17,26.25,10.46,53.26
$GC,231,-1.80,-487.5,1778,1954,3062,4095,27.1,-16.5,32,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1954,3062,3062,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.46,53.34
$GC,273,-1.80,-487.5,1777,1954,3063,4095,33.2,-13.8,38,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1954,3063,3063,4095,0,0,0,0,0,0,26.65,26.67,26.67,10.43,52.99
$GC,314,-1.80,-487.5,1778,1954,3064,4095,38.2,-12.3,44,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1954,3063,3063,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.42,52.08
$GC,356,-1.80,-487.5,1778,1954,3065,4095,43.4,-12.2,50,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1954,3065,3065,4095,0,0,0,0,0,0,26.69,26.70,26.70,10.41,51.81
$GC,398,-1.80,-487.5,1777,1954,3066,4095,48.6,-12.0,56,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1954,3066,3066,4094,0,0,0,0,0,0,26.70,26.71,26.71,10.41,51.81
$GC,440,-1.80,-487.5,1777,1954,3067,4094,53.8,-12.2,62,446,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1954,3067,3067,4094,0,0,0,0,0,0,26.72,26.72,26.72,10.40,51.85
$STATE,450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,450,begin apogee
$GC,465,-0.45,0.0,1777,2143,3068,4094,56.0,-13.0,64,501,4.32,0.00,28.88,1.258,10244,0.052,0.000,2185,2143,2484,2484,4094,0,0,0,0,0,0,26.15,25.11,23.75,10.40,51.18
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,509,1.80,487.5,2185,2143,2484,4094,59.7,0.0,70,550,7.45,0.00,28.27,1.234,11270,0.030,0.000,2900,2143,1916,1916,4094,0,0,0,0,0,0,25.77,25.96,23.41,10.28,51.02
$GC,586,1.80,487.5,2899,2143,1915,4094,53.1,13.0,82,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1915,1915,4094,0,0,0,0,0,0,25.77,25.78,25.78,10.16,49.13
$GC,628,1.80,487.5,2899,2142,1913,4094,47.4,13.8,88,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1913,1913,4094,0,0,0,0,0,0,25.98,25.99,25.98,10.16,49.52
$GC,670,1.80,487.5,2900,2143,1912,4094,41.6,13.8,94,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1912,1912,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.15,49.29
$GC,712,1.80,487.5,2899,2142,1911,4094,35.7,13.5,100,718,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1710,1911,1911,4094,0,0,0,0,0,0,26.22,25.72,26.23,10.15,50.23
$GC,821,1.95,585.3,2900,1710,1908,4094,23.1,9.3,117,834,0.40,1.02,6.72,0.659,11270,0.027,0.028,2947,2134,1802,1802,4094,0,0,0,0,0,0,26.07,26.03,24.02,10.17,50.94
$GC,871,1.95,585.3,2946,2134,1800,4094,17.3,12.5,124,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2134,1800,1800,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.17,51.33
$GC,912,1.95,585.3,2945,2134,1799,4094,12.4,11.7,130,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2135,1798,1798,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.17,52.32
$GC,954,1.95,585.3,2946,2134,1797,4094,6.5,14.9,136,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2134,1797,1797,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.17,53.11
$STATE,983,end climb,SURFACE_DEPTH_REACHED
$STATE,984,begin surface coast
$FINISH,0.2,1.024603
$STATE,997,end surface coast,CONTROL_FINISHED_OK
$STATE,997,begin surface
$SM_CCo,1108,0.00,0.000,0,0,1796,592.43
$SM_GC,1.02,27.77,0.47,0.00,0.019,0.039,0.000,231,1949,1796,-6.59,1.28,592.43,0,0,0,0,0,0,25.90,26.15,26.01
$IRIDIUM_FIX,5807.44,-16912.56,190917,222918
$TT8_MAMPS,0.026215,0.104111
$HUMID,53.62
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.41,92.782
$10V_AH,10.17,81.125
$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,45.775,5.875,63.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.673,280.778,156.444,207.472,154.771,0.000,314.707,0.000,217.191,0.000,0.543,0.000
$DEVICE_MAMPS,64.260,1217.115,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.288,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333776
$DATA_FILE_SIZE,10785,143
$CAP_FILE_SIZE,26144,0
$CFSIZE,1024409600,889356288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,233742,5832.658,-17002.037,5,1.0,38,8.8,0.4,264.2,9,4.9