version: 66.13
glider: 401
mission: 22
dive: 3037
start: 9 17 117 11 24 16
data:
$ID,401
$MISSION,22
$DIVE,3037
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,170917,111303,5850.3228,-17023.6211,5,0.7,29,8.6,0.8,314.2,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-41.1
$GPS2,170917,112337,5850.3682,-17023.6543,9,0.7,20,8.6,0.9,295.9,12,4.7
$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,136.3,43555,-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,-487.5,238,1953,1903,4092,0.0,0.0,0,20,5.70,0.00,0.00,0.000,2049,0.093,0.000,721,1946,1903,1903,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.25,52.16
$GC,27,-1.80,-487.5,721,1953,1902,4094,0.8,0.0,1,58,11.50,1.23,-10.48,0.000,18692,0.067,1.196,1754,2375,3058,3058,4095,0,0,0,0,0,0,25.82,23.55,25.89,10.25,52.32
$GC,76,-1.80,-487.5,1753,2375,3059,4095,1.9,-6.4,8,82,0.00,1.08,0.00,0.000,1030,0.000,0.031,1754,1952,3059,3059,4094,0,0,0,0,0,0,25.94,25.91,25.98,10.50,52.24
$GC,118,-1.80,-487.5,1754,1951,3060,4094,6.7,-12.7,14,125,0.00,1.15,0.00,0.000,260,0.000,0.047,1754,2373,3060,3060,4095,0,0,0,0,0,0,26.36,25.84,26.38,10.51,52.55
$GC,345,-1.80,-487.5,1754,2373,3066,4095,40.7,-13.3,50,351,0.00,1.10,0.00,0.000,1030,0.000,0.031,1754,1935,3066,3066,4095,0,0,0,0,0,0,26.18,26.15,26.22,10.44,50.19
$GC,388,-1.80,-487.5,1754,1935,3067,4095,46.3,-13.5,56,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1935,3067,3067,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.43,50.35
$GC,429,-1.80,-487.5,1754,1935,3068,4095,52.1,-13.7,62,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1935,3068,3068,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.43,49.60
$STATE,447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,461,-0.45,0.0,1754,2145,3069,4095,55.3,-13.8,65,503,4.57,0.00,28.98,1.256,10244,0.054,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.08,24.96,23.72,10.42,49.40
$STATE,504,end apogee,CONTROL_FINISHED_OK
$STATE,504,begin climb
$GC,510,1.80,487.5,2184,2145,2484,4094,59.5,0.0,72,552,7.40,0.00,28.42,1.231,11270,0.028,0.000,2900,2145,1916,1916,4094,0,0,0,0,0,0,25.72,25.91,23.39,10.30,48.89
$GC,588,1.80,487.5,2899,2145,1915,4094,53.0,12.8,84,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1914,1914,4095,0,0,0,0,0,0,25.73,25.75,25.74,10.18,47.75
$GC,630,1.80,487.5,2900,2145,1913,4095,47.2,13.9,90,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1913,1913,4095,0,0,0,0,0,0,25.94,25.96,25.95,10.17,47.36
$GC,671,1.80,487.5,2899,2145,1912,4095,41.2,14.2,96,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1911,1911,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.16,47.79
$GC,713,1.80,487.5,2900,2145,1911,4094,35.1,14.1,102,720,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1712,1910,1910,4094,0,0,0,0,0,0,26.20,25.71,26.20,10.16,48.11
$GC,958,2.11,691.1,2900,1712,1904,4094,6.5,7.7,141,977,0.88,1.00,11.75,0.631,11270,0.023,0.031,2995,2125,1678,1678,4094,0,0,0,0,0,0,26.16,26.14,24.35,10.21,52.59
$STATE,1001,end climb,FINISH_DEPTH_REACHED
$STATE,1001,begin subsurface finish
$FINISH1,1.9,1.024488,77
$GC,1016,0.12,77.5,2995,2125,1676,4094,1.9,11.0,148,1035,6.50,0.00,-6.38,0.000,20486,0.045,0.000,2375,2125,2397,2397,4094,0,0,0,0,0,0,26.13,24.37,26.15,10.17,52.55
$FINISH2,0.1
$STATE,1036,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1036,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,170917,100658
$TT8_MAMPS,0.025466,0.134071
$HUMID,52.75
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.39,88.476
$10V_AH,10.16,78.184
$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,36.550,7.225,69.150,0.000,0.000,23.252,19.545,325.405,0.000,0.000,21.283,388.187,238.954,142.421,542.286,362.828,0.000,306.792,0.000,230.290,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1195.695,1256.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333528
$DATA_FILE_SIZE,10753,151
$CAP_FILE_SIZE,27265,0
$CFSIZE,1024409600,896974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170917,112337,5850.368,-17023.654,9,0.7,20,8.6,0.9,295.9,12,4.7