version: 66.13
glider: 401
mission: 22
dive: 3172
start: 9 19 117 15 36 57
data:
$ID,401
$MISSION,22
$DIVE,3172
$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,25
$R_STBD_OVSHOOT,34
$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
$GPS1,190917,152510,5837.0933,-17004.3906,4,0.8,18,8.8,0.4,131.8,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-32.1
$GPS2,190917,153618,5837.1240,-17004.2637,7,0.8,19,8.8,1.0,93.6,11,4.9
$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,141.8,12766,-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,13,-1.80,-487.5,238,1947,1857,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,2049,0.086,0.000,720,1949,1857,1857,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.22,52.55
$GC,27,-1.80,-487.5,721,1941,1857,4094,0.8,0.0,1,58,11.07,1.23,-10.93,0.000,18692,0.050,1.207,1753,2366,3055,3055,4094,0,0,0,0,0,0,25.91,23.57,26.01,10.23,52.52
$GC,212,-1.80,-487.5,1753,2367,3060,4094,18.7,-16.3,30,218,0.00,1.05,0.00,0.000,1030,0.000,0.028,1754,1951,3060,3060,4095,0,0,0,0,0,0,26.14,26.11,26.16,10.48,52.04
$GC,254,-1.80,-487.5,1753,1950,3061,4095,25.6,-16.2,36,261,0.00,1.10,0.00,0.000,516,0.000,0.051,1753,1515,3061,3061,4095,0,0,0,0,0,0,26.52,25.94,26.53,10.48,51.96
$GC,369,-1.80,-487.5,1753,1515,3063,4095,40.2,-12.8,54,376,0.00,0.98,0.00,0.000,1030,0.000,0.027,1754,1933,3064,3064,4094,0,0,0,0,0,0,26.27,26.24,26.29,10.42,51.26
$GC,412,-1.80,-487.5,1753,1933,3065,4094,45.8,-13.2,60,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1933,3065,3065,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.42,50.70
$GC,454,-1.80,-487.5,1753,1933,3066,4094,51.7,-14.2,66,460,0.00,1.15,0.00,0.000,260,0.000,0.049,1754,2369,3066,3066,4094,0,0,0,0,0,0,26.64,26.03,26.65,10.42,50.39
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,493,-0.45,0.0,1754,2117,3067,4094,55.8,-13.6,70,534,4.60,0.00,28.90,1.258,10244,0.054,0.000,2185,2118,2484,2484,4094,0,0,0,0,0,0,26.06,24.96,23.66,10.41,50.19
$STATE,535,end apogee,CONTROL_FINISHED_OK
$STATE,535,begin climb
$GC,541,1.80,487.5,2185,2117,2484,4094,59.7,0.0,77,583,7.40,0.00,28.40,1.240,11270,0.028,0.000,2901,2118,1915,1915,4094,0,0,0,0,0,0,25.73,25.94,23.35,10.29,49.44
$GC,619,1.80,487.5,2901,2118,1914,4094,54.3,11.4,89,625,0.00,1.02,0.00,0.000,516,0.000,0.047,2902,1728,1915,1915,4094,0,0,0,0,0,0,25.74,25.32,25.75,10.17,48.54
$GC,733,1.80,487.5,2901,1728,1911,4094,38.7,14.0,107,740,0.00,0.95,0.00,0.000,1030,0.000,0.030,2902,2117,1911,1911,4094,0,0,0,0,0,0,25.84,25.82,25.88,10.16,48.81
$GC,776,1.80,487.5,2901,2117,1910,4094,32.8,14.1,113,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2117,1909,1909,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.15,49.29
$GC,818,1.80,487.5,2901,2117,1908,4094,27.1,13.8,119,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2116,1908,1908,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.16,49.37
$GC,860,1.80,487.5,2901,2117,1907,4094,22.0,11.2,125,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2117,1907,1907,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.18,50.19
$GC,902,1.94,578.7,2901,2117,1906,4094,17.6,9.4,131,915,0.35,0.98,6.28,0.603,10756,0.034,0.042,2945,1726,1808,1808,4094,0,0,0,0,0,0,26.19,24.73,24.04,10.19,51.26
$STATE,1017,end climb,FINISH_DEPTH_REACHED
$STATE,1017,begin subsurface finish
$FINISH1,1.6,1.024609,69
$GC,1034,0.10,69.0,2945,2137,1805,4094,1.6,12.9,149,1047,5.75,0.00,-5.32,0.000,20486,0.021,0.000,2371,2138,2410,2410,4094,0,0,0,0,0,0,26.16,24.33,26.22,10.19,52.59
$FINISH2,0.2
$STATE,1048,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1048,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,152906
$TT8_MAMPS,0.025466,0.163282
$HUMID,53.62
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.35,92.239
$10V_AH,9.98,80.869
$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,34.775,10.100,63.575,0.000,0.000,48.871,43.239,266.013,0.000,0.000,20.576,395.457,286.157,138.877,538.257,362.713,0.000,304.060,0.000,230.205,0.000,0.543,0.000
$DEVICE_MAMPS,85.680,1207.170,1257.660,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333548
$DATA_FILE_SIZE,10832,151
$CAP_FILE_SIZE,28770,0
$CFSIZE,1024409600,890339328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190917,153618,5837.124,-17004.264,7,0.8,19,8.8,1.0,93.6,11,4.9