version: 66.13
glider: 401
mission: 22
dive: 3076
start: 9 18 117 2 25 3
data:
$ID,401
$MISSION,22
$DIVE,3076
$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,28
$R_STBD_OVSHOOT,50
$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
$GPS1,180917,021501,5849.1768,-17020.4414,8,1.1,48,8.7,0.5,271.1,9,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-35.1
$GPS2,180917,022424,5849.2710,-17020.3066,6,1.1,19,8.7,1.0,55.4,9,5.0
$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,138.4,40058,-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,-487.5,231,1984,1814,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.083,0.000,968,1984,1814,1814,4094,0,0,0,0,0,0,26.40,28.83,28.83,10.21,52.55
$GC,30,-1.80,-487.5,967,1984,1814,4094,0.8,0.0,1,57,8.50,1.05,-11.27,0.000,18692,0.054,1.196,1753,2361,3055,3055,4095,0,0,0,0,0,0,25.96,23.53,25.96,10.21,52.63
$GC,71,-1.80,-487.5,1752,2360,3055,4095,1.4,-1.2,5,80,0.00,1.05,0.00,0.000,1030,0.000,0.034,1753,1952,3056,3056,4095,0,0,0,0,0,0,25.96,25.91,25.98,10.47,52.79
$GC,121,-1.80,-487.5,1752,1952,3057,4095,8.3,-15.7,11,130,0.00,1.08,0.00,0.000,260,0.000,0.047,1753,2349,3058,3058,4094,0,0,0,0,0,0,26.40,25.86,26.41,10.48,52.55
$GC,354,-1.80,-487.5,1752,2349,3064,4094,43.1,-13.8,44,363,0.00,0.98,0.00,0.000,1030,0.000,0.031,1753,1962,3064,3064,4095,0,0,0,0,0,0,26.24,26.20,26.27,10.42,50.66
$GC,405,-1.80,-487.5,1752,1962,3065,4095,50.1,-13.5,50,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1962,3065,3065,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.41,49.92
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,450,-0.45,0.0,1753,2123,3066,4094,55.4,-14.1,54,493,4.62,0.00,28.88,1.260,10244,0.054,0.000,2187,2123,2483,2483,4095,0,0,0,0,0,0,26.06,24.56,23.69,10.40,49.52
$STATE,494,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,500,1.80,487.5,2186,2122,2484,4095,59.8,0.0,59,545,7.45,0.00,28.45,1.238,11270,0.031,0.000,2901,2123,1915,1915,4094,0,0,0,0,0,0,25.72,25.93,23.37,10.28,49.13
$GC,587,1.80,487.5,2900,2122,1914,4094,53.4,12.6,69,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1914,1914,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.15,47.99
$GC,638,1.80,487.5,2900,2122,1912,4094,46.6,13.1,75,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1912,1912,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.15,47.99
$GC,688,1.80,487.5,2900,2122,1911,4094,39.8,13.8,81,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1911,1911,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.14,48.26
$GC,738,1.80,487.5,2900,2122,1909,4094,32.9,13.8,87,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1909,1909,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.14,48.50
$GC,788,1.80,487.5,2900,2122,1908,4094,25.9,13.5,93,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1907,1907,4095,0,0,0,0,0,0,26.33,26.35,26.35,10.14,49.13
$GC,839,1.80,487.5,2901,2122,1906,4095,19.3,12.1,99,856,0.00,1.08,0.00,0.000,516,0.000,0.044,2901,1704,1906,1906,4095,0,0,0,0,0,0,26.40,25.86,26.41,10.17,49.84
$GC,963,1.80,487.5,2900,1704,1902,4095,4.6,11.7,115,972,0.00,1.05,0.00,0.000,1030,0.000,0.036,2901,2127,1902,1902,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.19,51.73
$STATE,987,end climb,FINISH_DEPTH_REACHED
$STATE,987,begin subsurface finish
$FINISH1,1.6,1.024594,70
$GC,1002,0.11,70.1,2901,2127,1901,4094,1.6,9.8,118,1020,5.25,0.00,-4.57,0.000,20486,0.022,0.000,2376,2136,2405,2405,4095,0,0,0,0,0,0,26.17,25.53,26.24,10.19,52.36
$FINISH2,0.2
$STATE,1021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,180917,011106
$TT8_MAMPS,0.025466,0.237433
$HUMID,52.20
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.37,89.560
$10V_AH,9.83,79.057
$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,34.325,6.675,57.325,0.000,0.000,22.518,18.015,255.407,0.000,0.000,20.294,350.725,0.000,111.934,762.704,364.783,0.000,329.194,0.000,296.751,0.000,0.543,0.000
$DEVICE_MAMPS,82.620,1196.460,1259.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.158,326.074,258.006,382.432,498.307,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333568
$DATA_FILE_SIZE,10762,120
$CAP_FILE_SIZE,26080,0
$CFSIZE,1024409600,895057920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,839.35,0x236164,1,24
$GPS,180917,022424,5849.271,-17020.307,6,1.1,19,8.7,1.0,55.4,9,5.0