version: 66.13
glider: 401
mission: 22
dive: 3197
start: 9 20 117 1 13 45
data:
$ID,401
$MISSION,22
$DIVE,3197
$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,31
$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
$GPS1,200917,005414,5832.5889,-17002.2461,7,0.8,21,8.8,0.7,84.8,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-1.1
$GPS2,200917,005414,5832.5889,-17002.2461,7,0.8,21,8.8,0.7,84.8,11,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W3S
$TGT_LATLONG,5803.150,-16922.180
$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,135.4,67188,-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,-487.5,2371,1946,2410,4092,0.0,0.0,0,19,5.68,0.00,0.00,0.000,4097,0.021,0.000,1798,1947,2410,2410,4094,0,0,0,0,0,0,26.62,28.83,28.83,10.32,53.70
$GC,26,-1.80,-487.5,1798,1946,2410,4094,0.3,0.0,1,40,0.12,1.20,-5.65,0.000,20740,0.063,1.211,1773,2380,3053,3053,4095,0,0,0,0,0,0,26.39,23.80,26.39,10.32,53.34
$GC,181,-1.80,-487.5,1772,2379,3057,4095,20.2,-17.1,25,188,0.00,1.08,0.00,0.000,1030,0.000,0.031,1773,1949,3058,3058,4095,0,0,0,0,0,0,26.21,26.17,26.24,10.46,54.01
$GC,224,-1.80,-487.5,1772,1949,3059,4095,27.0,-16.2,31,230,0.00,1.08,0.00,0.000,516,0.000,0.053,1773,1525,3059,3059,4094,0,0,0,0,0,0,26.63,26.03,26.63,10.45,53.30
$GC,326,-1.80,-487.5,1772,1525,3061,4094,40.2,-12.8,47,333,0.00,0.95,0.00,0.000,1030,0.000,0.028,1773,1933,3061,3061,4094,0,0,0,0,0,0,26.34,26.31,26.36,10.41,52.04
$GC,369,-1.80,-487.5,1772,1934,3062,4094,45.5,-12.3,53,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1934,3063,3063,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.41,51.73
$GC,411,-1.80,-487.5,1773,1933,3063,4094,51.0,-12.9,59,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1934,3064,3064,4094,0,0,0,0,0,0,26.70,26.72,26.71,10.40,51.33
$STATE,440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,440,begin apogee
$GC,455,-0.45,0.0,1773,2135,3064,4095,55.6,-13.1,64,491,4.38,0.00,28.75,1.252,10244,0.053,0.000,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.13,25.10,23.75,10.40,51.10
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,492,begin climb
$GC,499,1.80,487.5,2186,2136,2483,4094,59.2,0.0,70,540,7.40,0.00,28.33,1.228,11270,0.030,0.000,2900,2136,1915,1915,4094,0,0,0,0,0,0,25.76,25.96,23.41,10.28,50.51
$GC,576,1.80,487.5,2900,2136,1914,4094,52.9,13.2,82,583,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1710,1914,1914,4094,0,0,0,0,0,0,25.77,25.34,25.78,10.16,49.37
$GC,697,1.80,487.5,2900,1710,1911,4094,35.4,15.0,101,704,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2129,1911,1911,4095,0,0,0,0,0,0,25.88,25.84,25.91,10.14,50.31
$GC,740,1.80,487.5,2900,2128,1909,4095,29.1,14.4,107,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1909,1909,4095,0,0,0,0,0,0,26.29,26.31,26.31,10.14,50.66
$GC,782,1.80,487.5,2900,2128,1908,4095,24.0,10.9,113,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1908,1908,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.15,50.98
$GC,824,1.85,516.9,2900,2128,1907,4094,19.8,10.3,119,831,0.00,1.10,3.17,0.347,8708,0.000,0.044,2901,1711,1880,1880,4094,0,0,0,0,0,0,26.41,25.10,23.81,10.17,50.86
$GC,934,1.91,561.3,2900,1711,1877,4094,7.4,10.1,136,942,0.28,1.02,4.07,0.396,11270,0.031,0.031,2938,2131,1829,1829,4094,0,0,0,0,0,0,26.13,26.09,24.07,10.18,53.34
$GC,979,1.91,561.3,2938,2131,1827,4094,2.1,11.7,142,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2132,1827,1827,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.17,53.07
$STATE,989,end climb,FINISH_DEPTH_REACHED
$STATE,989,begin subsurface finish
$FINISH1,0.1,1.002529,0
$GC,1005,0.00,0.0,2938,2132,1827,4094,0.1,11.1,144,1023,5.95,0.00,-5.80,0.000,20486,0.021,0.000,2339,2134,2488,2488,4094,0,0,0,0,0,0,26.22,25.58,26.25,10.18,54.21
$FINISH2,0.2
$STATE,1024,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1024,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,234141
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.05
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.41,92.920
$10V_AH,10.16,81.189
$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,23.800,9.600,64.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,385.543,236.714,125.939,213.437,126.404,0.000,281.864,0.000,222.906,0.000,0.542,0.000
$DEVICE_MAMPS,63.495,1210.995,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333708
$DATA_FILE_SIZE,10831,147
$CAP_FILE_SIZE,24190,0
$CFSIZE,1024409600,889110528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200917,005414,5832.589,-17002.246,7,0.8,21,8.8,0.7,84.8,11,5.0