version: 66.13
glider: 401
mission: 22
dive: 3140
start: 9 19 117 3 4 34
data:
$ID,401
$MISSION,22
$DIVE,3140
$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,62
$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
$GPS1,190917,024435,5843.0874,-17013.3535,9,1.1,18,8.7,0.0,4.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-4.6
$GPS2,190917,024435,5843.0874,-17013.3535,9,1.1,18,8.7,0.0,4.9,10,5.0
$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,137.1,26798,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2372,2004,2401,4092,0.0,0.0,0,23,6.10,0.00,-2.28,0.000,20482,0.023,0.000,1760,2006,2654,2654,4094,0,0,0,0,0,0,26.29,28.83,26.34,10.34,53.26
$GC,30,-1.80,-487.5,1759,2006,2654,4094,0.2,0.0,1,40,0.00,0.95,-3.72,0.000,16644,0.000,1.209,1759,2350,3057,3057,4095,0,0,0,0,0,0,26.60,23.73,26.60,10.38,53.15
$GC,242,-1.80,-487.5,1758,2350,3062,4095,25.8,-16.7,31,252,0.00,1.00,0.00,0.000,1030,0.000,0.031,1759,1949,3062,3062,4095,0,0,0,0,0,0,26.25,26.20,26.27,10.48,52.83
$GC,292,-1.80,-487.5,1758,1949,3063,4095,32.3,-11.4,37,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1949,3063,3063,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.45,52.55
$GC,342,-1.80,-487.5,1758,1949,3064,4095,38.5,-13.2,43,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3064,3064,4094,0,0,0,0,0,0,26.68,26.70,26.69,10.43,52.16
$GC,391,-1.80,-487.5,1759,1949,3066,4094,45.1,-13.6,49,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3066,3066,4095,0,0,0,0,0,0,26.70,26.71,26.71,10.42,51.06
$GC,440,-1.80,-487.5,1758,1949,3067,4095,52.0,-14.2,55,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1949,3067,3067,4094,0,0,0,0,0,0,26.72,26.73,26.72,10.42,50.78
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,477,-0.45,0.0,1760,2116,3068,4095,55.6,-12.9,58,513,4.53,0.00,28.95,1.262,10244,0.054,0.000,2185,2116,2484,2484,4094,0,0,0,0,0,0,26.15,25.13,23.76,10.41,50.11
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,521,1.80,487.5,2185,2116,2484,4094,60.0,0.0,62,566,7.45,0.00,28.27,1.238,11270,0.029,0.000,2902,2116,1919,1919,4094,0,0,0,0,0,0,25.77,25.96,23.40,10.29,49.92
$GC,608,1.80,487.5,2901,2115,1918,4094,53.3,13.3,72,617,0.00,1.08,0.00,0.000,516,0.000,0.048,2902,1715,1918,1918,4094,0,0,0,0,0,0,25.82,25.39,25.83,10.17,48.38
$GC,716,1.80,487.5,2902,1714,1915,4094,39.0,12.8,87,726,0.00,1.00,0.00,0.000,1030,0.000,0.029,2902,2126,1914,1914,4094,0,0,0,0,0,0,25.88,25.84,25.91,10.16,48.70
$GC,766,1.80,487.5,2902,2125,1913,4094,31.7,13.4,93,775,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2126,1913,1913,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.15,48.77
$GC,815,1.80,487.5,2902,2125,1911,4094,24.3,15.2,99,825,0.00,1.17,0.00,0.000,260,0.000,0.053,2902,2562,1911,1911,4094,0,0,0,0,0,0,26.37,25.82,26.39,10.18,49.01
$GC,873,1.80,487.5,2902,2562,1910,4094,17.5,11.7,106,883,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2142,1909,1909,4094,0,0,0,0,0,0,26.14,26.11,26.15,10.19,50.66
$GC,924,1.80,487.5,2902,2142,1908,4094,11.7,11.4,112,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2142,1908,1908,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.21,51.53
$GC,975,1.80,487.5,2902,2141,1907,4094,6.1,11.2,118,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2141,1907,1907,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.21,51.81
$STATE,1003,end climb,FINISH_DEPTH_REACHED
$STATE,1004,begin subsurface finish
$FINISH1,1.9,1.024534,74
$GC,1019,0.11,74.2,2902,2133,1906,4094,1.9,11.4,122,1037,5.40,0.00,-4.38,0.000,20998,0.036,0.000,2374,2134,2401,2401,4094,0,0,0,0,0,0,26.16,25.57,26.23,10.22,52.16
$FINISH2,0.2
$STATE,1038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,013025
$TT8_MAMPS,0.026215,0.250915
$HUMID,52.75
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.40,91.333
$10V_AH,9.79,80.324
$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,23.475,7.225,57.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,349.519,0.000,102.039,519.150,131.299,0.000,306.487,0.000,305.122,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1208.700,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.117,336.886,266.627,395.358,516.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333680
$DATA_FILE_SIZE,10936,124
$CAP_FILE_SIZE,21989,0
$CFSIZE,1024409600,891912192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,024435,5843.087,-17013.354,9,1.1,18,8.7,0.0,4.9,10,5.0