version: 66.13
glider: 401
mission: 22
dive: 3144
start: 9 19 117 4 32 24
data:
$ID,401
$MISSION,22
$DIVE,3144
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,190917,035345,5843.0776,-17011.8008,10,0.8,54,8.7,0.0,102.1,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-3.7
$GPS2,190917,035345,5843.0776,-17011.8008,10,0.8,54,8.7,0.0,102.1,11,4.9
$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,139.8,25968,-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,-487.5,2367,1972,2404,4091,0.0,0.0,0,23,6.05,0.00,-2.38,0.000,20482,0.021,0.000,1764,1972,2665,2665,4094,0,0,0,0,0,0,26.18,28.83,26.24,10.33,53.18
$GC,30,-1.80,-487.5,1764,1973,2665,4094,0.3,0.0,1,40,0.00,1.20,-3.62,0.000,16644,0.000,1.220,1764,2364,3058,3058,4094,0,0,0,0,0,0,26.53,23.74,26.52,10.38,53.34
$GC,256,-1.80,-487.5,1763,2370,3063,4094,26.0,-16.5,33,264,0.00,1.02,0.00,0.000,1030,0.000,0.031,1764,1953,3063,3063,4095,0,0,0,0,0,0,26.24,26.24,26.27,10.48,53.11
$GC,304,-1.80,-487.5,1763,1953,3064,4095,32.2,-12.1,39,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3065,3065,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.45,53.22
$GC,353,-1.80,-487.5,1763,1953,3065,4094,38.5,-13.1,45,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3066,3066,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.43,52.20
$GC,401,-1.80,-487.5,1763,1953,3067,4095,45.1,-14.0,51,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3066,3066,4095,0,0,0,0,0,0,26.68,26.70,26.69,10.42,51.61
$GC,450,-1.80,-487.5,1763,1953,3067,4095,51.9,-14.2,57,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3068,3068,4095,0,0,0,0,0,0,26.70,26.71,26.71,10.41,50.98
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,488,-0.45,0.0,1764,2135,3069,4094,55.6,-12.7,60,524,4.50,0.00,28.88,1.256,10244,0.054,0.000,2186,2135,2484,2484,4094,0,0,0,0,0,0,26.14,25.14,23.80,10.41,51.02
$STATE,525,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,532,1.80,487.5,2186,2135,2484,4094,59.3,0.0,64,576,7.43,0.00,28.40,1.235,11270,0.029,0.000,2901,2136,1917,1917,4094,0,0,0,0,0,0,25.76,25.95,23.48,10.29,50.31
$GC,619,1.80,487.5,2901,2135,1916,4094,53.2,13.3,74,628,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1711,1915,1915,4094,0,0,0,0,0,0,25.82,25.39,25.82,10.16,48.74
$GC,727,1.80,487.5,2901,1711,1913,4094,38.1,14.5,89,736,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2128,1912,1912,4094,0,0,0,0,0,0,25.87,25.82,25.92,10.15,48.70
$GC,776,1.80,487.5,2901,2128,1911,4094,31.2,13.9,95,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1911,1911,4094,0,0,0,0,0,0,26.30,26.31,26.31,10.15,49.01
$GC,825,1.80,487.5,2901,2128,1909,4094,24.4,13.9,101,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1909,1909,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.17,49.17
$GC,874,1.80,487.5,2901,2128,1908,4094,18.5,11.9,107,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1908,1908,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.19,50.47
$GC,923,1.80,487.5,2901,2128,1907,4094,13.2,10.8,113,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1906,1906,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.20,51.37
$GC,972,1.80,487.5,2901,2128,1905,4094,7.2,11.4,119,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1905,1905,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.20,51.73
$STATE,1014,end climb,SURFACE_DEPTH_REACHED
$STATE,1014,begin surface coast
$FINISH,0.3,1.024558
$STATE,1029,end surface coast,CONTROL_FINISHED_OK
$STATE,1029,begin surface
$SM_CCo,1139,0.00,0.000,0,0,1903,499.71
$SM_GC,0.88,27.12,0.45,0.00,0.019,0.046,0.000,240,1943,1903,-6.55,1.46,499.71,0,0,0,0,0,0,26.27,26.19,26.32
$IRIDIUM_FIX,5807.44,-16912.56,190917,023907
$TT8_MAMPS,0.025466,0.253162
$HUMID,52.79
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.48,91.435
$10V_AH,9.84,80.392
$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,45.100,5.875,57.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,358.968,60.500,121.817,527.327,142.564,0.000,317.911,0.000,311.038,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1220.175,1256.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.463,345.034,273.087,405.174,526.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,10846,127
$CAP_FILE_SIZE,23369,0
$CFSIZE,1024409600,891715584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,045257,5842.716,-17010.342,21,0.8,46,8.7,0.5,270.6,10,4.9