version: 66.13
glider: 401
mission: 22
dive: 3130
start: 9 18 117 23 21 17
data:
$ID,401
$MISSION,22
$DIVE,3130
$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,29
$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
$GPS1,180917,231101,5842.4429,-17014.5938,2,0.9,24,8.7,0.3,219.0,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-35.7
$GPS2,180917,232038,5842.4678,-17014.6855,9,0.7,14,8.7,0.0,0.4,11,4.7
$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,133.4,26628,-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,-487.5,238,1941,1900,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.093,0.000,715,1941,1901,1901,4094,0,0,0,0,0,0,26.42,28.83,28.83,10.25,52.71
$GC,27,-1.80,-487.5,715,1941,1900,4094,0.9,0.0,1,58,11.18,1.25,-10.50,0.000,18692,0.050,1.193,1753,2379,3058,3058,4095,0,0,0,0,0,0,25.84,23.60,25.96,10.25,52.55
$GC,224,-1.80,-487.5,1752,2379,3062,4095,26.6,-18.4,32,230,0.00,1.08,0.00,0.000,1030,0.000,0.031,1753,1947,3062,3062,4094,0,0,0,0,0,0,26.10,26.08,26.14,10.49,52.00
$GC,267,-1.80,-487.5,1753,1946,3064,4094,32.8,-13.9,38,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.46,52.00
$GC,308,-1.80,-487.5,1752,1946,3064,4095,38.2,-12.6,44,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3065,3065,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.44,50.90
$GC,350,-1.80,-487.5,1752,1946,3066,4094,43.9,-14.0,50,357,0.00,1.08,0.00,0.000,516,0.000,0.051,1753,1522,3066,3066,4095,0,0,0,0,0,0,26.59,26.00,26.60,10.44,50.27
$GC,423,-1.80,-487.5,1752,1522,3068,4095,54.2,-14.8,61,429,0.00,1.00,0.00,0.000,1030,0.000,0.027,1753,1951,3068,3068,4094,0,0,0,0,0,0,26.29,26.27,26.32,10.42,49.92
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,449,-0.45,0.0,1753,2139,3068,4095,56.7,-14.4,63,490,4.62,0.00,28.95,1.281,10244,0.054,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.06,25.08,23.67,10.42,49.48
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,498,1.80,487.5,2184,2139,2484,4094,61.2,0.0,70,539,7.45,0.00,28.45,1.258,11270,0.029,0.000,2902,2139,1916,1916,4094,0,0,0,0,0,0,25.72,25.91,23.34,10.30,48.93
$GC,575,1.80,487.5,2901,2139,1915,4094,55.4,13.4,82,582,0.00,1.12,0.00,0.000,516,0.000,0.046,2902,1719,1915,1915,4094,0,0,0,0,0,0,25.73,25.32,25.74,10.18,47.83
$GC,771,1.80,487.5,2901,1718,1909,4094,28.9,13.9,113,778,0.00,1.00,0.00,0.000,1030,0.000,0.030,2902,2129,1908,1908,4094,0,0,0,0,0,0,25.99,25.96,26.03,10.15,49.40
$GC,814,1.80,487.5,2901,2128,1907,4094,23.3,12.7,119,820,0.00,1.10,0.00,0.000,516,0.000,0.047,2902,1713,1907,1907,4094,0,0,0,0,0,0,26.39,25.86,26.41,10.16,49.48
$GC,946,1.80,487.5,2901,1713,1904,4094,8.7,12.0,140,953,0.00,0.90,0.00,0.000,1030,0.000,0.030,2902,2089,1903,1903,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.21,52.32
$GC,989,1.80,487.5,2901,2089,1902,4094,3.6,12.0,146,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2090,1902,1902,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.21,53.34
$STATE,1000,end climb,FINISH_DEPTH_REACHED
$STATE,1000,begin subsurface finish
$FINISH1,1.6,1.024516,75
$GC,1016,0.11,75.5,2902,2141,1901,4094,1.6,11.7,148,1030,5.25,0.00,-4.38,0.000,20486,0.021,0.000,2372,2143,2403,2403,4094,0,0,0,0,0,0,26.27,24.39,26.32,10.22,52.75
$FINISH2,0.2
$STATE,1030,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1031,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,180917,220602
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.22
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.34,91.070
$10V_AH,10.01,80.145
$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,34.125,9.075,57.400,0.000,0.000,23.340,18.620,276.107,0.000,0.000,16.149,392.764,242.047,130.522,491.909,355.674,0.000,291.878,0.000,228.875,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1193.400,1281.375,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.208,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333532
$DATA_FILE_SIZE,10866,150
$CAP_FILE_SIZE,26934,0
$CFSIZE,1024409600,892403712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,180917,232038,5842.468,-17014.686,9,0.7,14,8.7,0.0,0.4,11,4.7