version: 66.13
glider: 401
mission: 22
dive: 3171
start: 9 19 117 15 5 16
data:
$ID,401
$MISSION,22
$DIVE,3171
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,190917,142724,5837.2974,-17005.3594,6,0.8,17,8.8,0.5,114.8,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-4.0
$GPS2,190917,142724,5837.2974,-17005.3594,6,0.8,17,8.8,0.5,114.8,10,4.7
$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,138.5,13588,-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,-487.5,2373,1941,2409,4092,0.0,0.0,0,19,5.68,0.00,0.00,0.000,4097,0.018,0.000,1800,1941,2409,2409,4094,0,0,0,0,0,0,26.59,28.83,28.83,10.31,53.38
$GC,26,-1.80,-487.5,1799,1941,2410,4094,0.2,0.0,1,40,0.15,1.27,-5.93,0.000,20740,0.056,1.210,1771,2385,3057,3057,4094,0,0,0,0,0,0,26.35,23.75,26.36,10.31,53.89
$GC,200,-1.80,-487.5,1771,2385,3061,4094,20.0,-15.2,28,206,0.00,1.08,0.00,0.000,1030,0.000,0.031,1772,1953,3062,3062,4094,0,0,0,0,0,0,26.20,26.17,26.24,10.45,53.62
$GC,243,-1.80,-487.5,1771,1953,3062,4094,26.7,-15.5,34,249,0.00,1.08,0.00,0.000,516,0.000,0.052,1771,1527,3062,3062,4094,0,0,0,0,0,0,26.62,26.04,26.63,10.45,53.30
$GC,369,-1.80,-487.5,1771,1527,3066,4094,41.5,-12.6,54,376,0.00,0.95,0.00,0.000,1030,0.000,0.027,1771,1944,3066,3066,4095,0,0,0,0,0,0,26.36,26.34,26.38,10.41,52.83
$GC,412,-1.80,-487.5,1771,1944,3066,4095,46.9,-13.0,60,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1944,3067,3067,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.40,52.24
$GC,454,-1.80,-487.5,1770,1944,3067,4094,52.3,-13.1,66,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1944,3068,3068,4095,0,0,0,0,0,0,26.70,26.72,26.71,10.40,52.00
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,486,-0.45,0.0,1771,2127,3068,4094,55.5,-13.7,69,522,4.38,0.00,28.85,1.257,10244,0.052,0.000,2184,2128,2484,2484,4095,0,0,0,0,0,0,26.13,25.10,23.75,10.39,51.81
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,529,1.80,487.5,2184,2128,2484,4095,59.5,0.0,75,571,7.40,0.00,28.35,1.235,11270,0.028,0.000,2901,2129,1915,1915,4094,0,0,0,0,0,0,25.75,25.94,23.39,10.28,51.41
$GC,607,1.80,487.5,2900,2128,1915,4094,53.5,12.1,87,613,0.00,1.10,0.00,0.000,516,0.000,0.044,2901,1715,1915,1915,4094,0,0,0,0,0,0,25.75,25.34,25.75,10.16,49.44
$GC,715,1.80,487.5,2900,1714,1912,4094,38.9,13.5,104,722,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2133,1911,1911,4094,0,0,0,0,0,0,25.84,25.81,25.87,10.14,50.11
$GC,758,1.80,487.5,2900,2132,1910,4094,32.9,14.7,110,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2133,1910,1910,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.14,50.11
$GC,800,1.80,487.5,2900,2132,1909,4094,26.9,14.1,116,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2133,1908,1908,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.15,50.35
$GC,842,1.87,532.3,2900,2132,1908,4095,22.5,10.1,122,851,0.12,1.10,3.97,0.476,10756,0.065,0.044,2926,1714,1863,1863,4094,0,0,0,0,0,0,26.17,25.14,23.84,10.17,51.02
$GC,992,1.87,532.3,2926,1713,1858,4094,3.0,12.3,145,999,0.00,1.00,0.00,0.000,1030,0.000,0.028,2926,2134,1858,1858,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.18,53.38
$STATE,1004,end climb,SURFACE_DEPTH_REACHED
$STATE,1004,begin surface coast
$FINISH,0.1,1.024624
$STATE,1018,end surface coast,CONTROL_FINISHED_OK
$STATE,1018,begin surface
$SM_CCo,1128,0.00,0.000,0,0,1857,539.20
$SM_GC,1.12,27.45,0.47,0.00,0.019,0.044,0.000,239,1951,1857,-6.55,1.32,539.20,0,0,0,0,0,0,26.22,26.14,26.27
$IRIDIUM_FIX,5807.44,-16912.56,190917,131452
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.11
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.39,92.197
$10V_AH,10.19,80.851
$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,45.175,9.950,61.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,399.397,310.358,137.903,215.338,137.474,0.000,290.326,0.000,225.787,0.000,0.543,0.000
$DEVICE_MAMPS,65.025,1210.230,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333680
$DATA_FILE_SIZE,10877,149
$CAP_FILE_SIZE,24849,0
$CFSIZE,1024409600,890388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190917,152510,5837.093,-17004.391,4,0.8,18,8.8,0.4,131.8,10,4.8