version: 66.13
glider: 401
mission: 22
dive: 3152
start: 9 19 117 7 57 29
data:
$ID,401
$MISSION,22
$DIVE,3152
$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,16
$R_STBD_OVSHOOT,28
$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
$GPS1,190917,073759,5840.9873,-17007.5566,7,0.8,17,8.8,0.0,84.8,10,4.9
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-2.8
$GPS2,190917,073759,5840.9873,-17007.5566,7,0.8,17,8.8,0.0,84.8,10,4.9
$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,143.8,20576,-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,-487.5,2368,1958,2409,4092,0.0,0.0,0,23,6.05,0.00,-2.33,0.000,20482,0.019,0.000,1762,1956,2670,2670,4095,0,0,0,0,0,0,26.19,28.83,26.24,10.33,53.62
$GC,30,-1.80,-487.5,1762,1956,2670,4095,0.4,0.0,1,40,0.00,1.23,-3.28,0.000,16644,0.000,1.214,1762,2375,3054,3054,4094,0,0,0,0,0,0,26.51,23.72,26.50,10.38,52.99
$GC,275,-1.80,-487.5,1761,2374,3061,4094,34.7,-14.4,36,285,0.00,1.08,0.00,0.000,1030,0.000,0.031,1762,1943,3062,3062,4095,0,0,0,0,0,0,26.21,26.17,26.25,10.43,52.83
$GC,326,-1.80,-487.5,1761,1942,3062,4095,41.7,-14.1,42,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1943,3062,3062,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.42,51.65
$GC,374,-1.80,-487.5,1761,1943,3064,4095,48.5,-14.0,48,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1943,3064,3064,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.41,51.22
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,431,-0.45,0.0,1761,2143,3066,4095,55.6,-14.4,54,467,4.53,0.00,28.77,1.266,10244,0.056,0.000,2184,2143,2484,2484,4095,0,0,0,0,0,0,26.09,25.11,23.75,10.40,51.33
$STATE,468,end apogee,CONTROL_FINISHED_OK
$STATE,468,begin climb
$GC,475,1.80,487.5,2184,2142,2484,4095,59.8,0.0,58,519,7.50,0.00,28.38,1.245,11270,0.031,0.000,2902,2143,1917,1917,4094,0,0,0,0,0,0,25.74,25.92,23.41,10.29,50.47
$GC,561,1.80,487.5,2902,2142,1915,4094,53.3,12.2,68,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1915,1915,4094,0,0,0,0,0,0,25.79,25.82,25.81,10.16,49.40
$GC,612,1.80,487.5,2901,2142,1914,4094,46.9,12.7,74,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1914,1914,4095,0,0,0,0,0,0,26.03,26.04,26.04,10.16,48.93
$GC,663,1.80,487.5,2902,2142,1913,4095,40.0,14.1,80,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1912,1912,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.15,49.17
$GC,713,1.80,487.5,2902,2142,1911,4094,33.1,13.4,86,723,0.00,1.12,0.00,0.000,516,0.000,0.047,2902,1716,1910,1910,4094,0,0,0,0,0,0,26.28,25.76,26.29,10.15,49.33
$GC,789,1.80,487.5,2902,1716,1908,4094,23.1,12.0,96,798,0.00,1.00,0.00,0.000,1030,0.000,0.029,2902,2128,1908,1908,4094,0,0,0,0,0,0,26.06,26.02,26.06,10.17,49.44
$GC,839,1.80,487.5,2902,2127,1907,4094,17.3,11.7,102,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1907,1907,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.19,50.74
$GC,888,1.80,487.5,2902,2127,1906,4094,11.5,11.4,108,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2128,1905,1905,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.20,51.57
$GC,937,1.80,487.5,2902,2127,1904,4094,5.9,12.4,114,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1904,1904,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.20,52.08
$STATE,966,end climb,FINISH_DEPTH_REACHED
$STATE,966,begin subsurface finish
$FINISH1,1.6,1.024603,69
$GC,982,0.10,69.4,2902,2127,1903,4094,1.6,11.8,118,1000,5.22,0.00,-4.50,0.000,20486,0.019,0.000,2373,2127,2408,2408,4095,0,0,0,0,0,0,26.25,25.54,26.29,10.20,53.03
$FINISH2,0.2
$STATE,1001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,073031
$TT8_MAMPS,0.026215,0.256158
$HUMID,53.26
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.41,91.679
$10V_AH,9.82,80.540
$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,23.300,5.425,57.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,338.823,0.000,98.426,502.343,125.331,0.000,295.556,0.000,295.475,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,1214.055,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.474,326.032,258.017,382.737,500.941,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333744
$DATA_FILE_SIZE,10825,120
$CAP_FILE_SIZE,20691,0
$CFSIZE,1024409600,891322368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,073759,5840.987,-17007.557,7,0.8,17,8.8,0.0,84.8,10,4.9