version: 66.13
glider: 401
mission: 22
dive: 3148
start: 9 19 117 6 27 16
data:
$ID,401
$MISSION,22
$DIVE,3148
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,190917,061347,5842.0220,-17008.7148,5,0.8,24,8.8,0.7,233.8,10,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-37.2
$GPS2,190917,062631,5841.9619,-17008.4961,7,0.7,26,8.8,0.4,229.6,11,4.9
$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,143.9,22596,-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,-487.5,230,1951,1847,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.071,0.000,983,1951,1846,1846,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.23,53.03
$GC,30,-1.80,-487.5,983,1950,1846,4094,0.6,0.0,1,57,8.12,1.20,-11.00,0.000,18692,0.039,1.198,1756,2382,3054,3054,4095,0,0,0,0,0,0,26.03,23.60,26.10,10.24,52.52
$GC,189,-1.80,-487.5,1755,2381,3058,4095,17.4,-17.1,22,199,0.00,1.10,0.00,0.000,1030,0.000,0.031,1756,1942,3058,3058,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.49,52.40
$GC,241,-1.80,-487.5,1755,1941,3060,4095,27.2,-17.2,28,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1941,3060,3060,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.48,52.04
$GC,290,-1.80,-487.5,1755,1942,3060,4094,34.5,-14.1,34,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1942,3061,3061,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.45,51.26
$GC,341,-1.80,-487.5,1756,1941,3062,4095,41.6,-14.1,40,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1941,3062,3062,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.44,51.61
$GC,392,-1.80,-487.5,1756,1941,3063,4094,48.9,-13.9,46,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1941,3063,3063,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.43,50.07
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,449,-0.45,0.0,1756,2142,3065,4095,55.9,-13.9,52,486,4.57,0.00,28.90,1.264,10244,0.054,0.000,2185,2141,2484,2484,4095,0,0,0,0,0,0,26.07,25.04,23.65,10.42,49.56
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2185,2141,2484,4095,60.3,0.0,56,537,7.45,0.00,28.35,1.239,11270,0.029,0.000,2901,2141,1920,1920,4094,0,0,0,0,0,0,25.72,25.91,23.36,10.30,49.96
$GC,579,1.80,487.5,2901,2141,1919,4094,53.3,14.0,66,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2141,1918,1918,4094,0,0,0,0,0,0,25.79,25.81,25.81,10.17,48.03
$GC,630,1.80,487.5,2900,2141,1917,4094,46.4,13.4,72,639,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1715,1917,1917,4094,0,0,0,0,0,0,26.03,25.56,26.03,10.17,48.07
$GC,746,1.80,487.5,2901,1714,1914,4094,30.7,12.9,88,756,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2125,1914,1914,4094,0,0,0,0,0,0,25.96,25.94,26.01,10.16,48.38
$GC,798,1.80,487.5,2901,2125,1912,4094,24.5,11.4,94,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1912,1912,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.18,48.89
$GC,848,1.80,487.5,2902,2125,1911,4094,18.9,11.1,100,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1911,1911,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.20,50.43
$GC,899,1.80,487.5,2901,2125,1909,4094,12.9,12.3,106,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1909,1909,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.21,50.86
$GC,950,1.96,591.2,2900,2125,1907,4094,7.7,9.2,112,960,0.35,0.00,6.95,0.549,10246,0.034,0.000,2946,2125,1794,1794,4095,0,0,0,0,0,0,26.30,25.19,24.20,10.21,51.69
$STATE,996,end climb,FINISH_DEPTH_REACHED
$STATE,996,begin subsurface finish
$FINISH1,1.3,1.024592,70
$GC,1011,0.11,70.2,2947,2125,1792,4094,1.3,12.2,118,1030,5.72,0.00,-5.35,0.000,20486,0.021,0.000,2369,2126,2402,2402,4093,0,0,0,0,0,0,26.23,25.50,26.27,10.19,52.00
$FINISH2,0.2
$STATE,1031,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1031,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,061931
$TT8_MAMPS,0.024717,0.248668
$HUMID,52.44
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.36,91.572
$10V_AH,9.85,80.472
$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,34.725,4.925,64.200,0.000,0.000,74.984,94.277,230.252,0.000,0.000,27.556,360.672,90.052,111.203,880.634,363.368,0.000,323.531,0.000,295.881,0.000,0.542,0.000
$DEVICE_MAMPS,71.145,1197.990,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.150,325.982,258.017,382.140,498.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333524
$DATA_FILE_SIZE,10867,120
$CAP_FILE_SIZE,27466,0
$CFSIZE,1024409600,891518976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190917,062631,5841.962,-17008.496,7,0.7,26,8.8,0.4,229.6,11,4.9