version: 66.13
glider: 401
mission: 22
dive: 3040
start: 9 17 117 12 35 54
data:
$ID,401
$MISSION,22
$DIVE,3040
$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,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
$GPS1,170917,122231,5850.4536,-17023.2051,4,0.7,45,8.6,0.9,315.2,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-36.1
$GPS2,170917,123515,5850.5327,-17023.1562,7,0.8,29,8.6,0.0,331.7,10,4.9
$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,137.1,43531,-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,-487.5,237,1952,1772,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.085,0.000,970,1952,1772,1772,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.23,52.99
$GC,30,-1.80,-487.5,970,1945,1771,4094,0.6,0.0,1,58,8.35,1.23,-12.05,0.000,18692,0.045,1.203,1754,2378,3057,3057,4094,0,0,0,0,0,0,25.88,23.55,25.98,10.24,52.24
$GC,293,-1.80,-487.5,1753,2380,3064,4094,34.2,-11.3,38,303,0.00,1.08,0.00,0.000,1030,0.000,0.031,1754,1946,3064,3064,4095,0,0,0,0,0,0,26.16,26.12,26.20,10.47,51.33
$GC,343,-1.80,-487.5,1753,1946,3065,4095,40.6,-12.9,44,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3066,3066,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.45,50.23
$GC,392,-1.80,-487.5,1753,1946,3067,4095,47.1,-13.3,50,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3067,3067,4094,0,0,0,0,0,0,26.61,26.63,26.62,10.44,49.44
$GC,441,-1.80,-487.5,1753,1945,3067,4094,53.8,-13.9,56,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3068,3068,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.43,48.74
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,474,-0.45,0.0,1753,2145,3069,4095,57.0,-14.0,58,518,4.60,0.00,29.12,1.273,10244,0.054,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.09,25.06,23.70,10.42,49.21
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,525,1.80,487.5,2185,2145,2484,4094,61.8,0.0,63,570,7.43,0.00,28.52,1.251,11270,0.028,0.000,2902,2145,1917,1917,4094,0,0,0,0,0,0,25.73,25.94,23.39,10.31,47.95
$GC,612,1.80,487.5,2902,2145,1915,4094,55.0,12.9,73,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2146,1915,1915,4094,0,0,0,0,0,0,25.78,25.79,25.79,10.18,47.12
$GC,662,1.80,487.5,2902,2145,1914,4094,48.0,14.1,79,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1913,1913,4094,0,0,0,0,0,0,26.01,26.02,26.01,10.17,47.32
$GC,713,1.80,487.5,2903,2145,1912,4094,40.7,14.6,85,722,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1712,1912,1912,4094,0,0,0,0,0,0,26.16,25.67,26.17,10.16,48.03
$GC,912,2.13,706.5,2902,1712,1906,4094,16.9,7.5,113,932,0.98,1.00,12.80,0.715,11270,0.024,0.029,3002,2126,1660,1660,4094,0,0,0,0,0,0,26.12,26.08,24.27,10.22,51.41
$GC,974,2.13,706.5,3001,2125,1658,4094,8.0,13.1,120,983,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2126,1658,1658,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.17,51.37
$STATE,1018,end climb,FINISH_DEPTH_REACHED
$STATE,1018,begin subsurface finish
$FINISH1,1.4,1.024498,77
$GC,1033,0.12,76.7,3002,2127,1656,4094,1.4,14.2,126,1052,6.25,0.00,-6.65,0.000,20486,0.017,0.000,2371,2128,2399,2399,4094,0,0,0,0,0,0,26.15,24.32,26.20,10.18,51.61
$FINISH2,0.2
$STATE,1053,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,170917,122627
$TT8_MAMPS,0.025466,0.248668
$HUMID,52.59
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.39,88.567
$10V_AH,9.85,78.262
$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,36.100,4.950,70.450,0.000,0.000,44.752,38.688,343.313,0.000,0.000,30.510,361.812,44.693,107.881,929.688,378.685,0.000,321.235,0.000,315.231,0.000,0.542,0.000
$DEVICE_MAMPS,84.915,1202.580,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.824,347.760,275.212,408.398,535.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333548
$DATA_FILE_SIZE,10914,128
$CAP_FILE_SIZE,26762,0
$CFSIZE,1024409600,896827392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,170917,123515,5850.533,-17023.156,7,0.8,29,8.6,0.0,331.7,10,4.9