version: 66.13
glider: 401
mission: 22
dive: 3169
start: 9 19 117 14 28 3
data:
$ID,401
$MISSION,22
$DIVE,3169
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,190917,141807,5837.2617,-17005.4258,30,0.8,36,8.8,0.6,6.4,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-41.0
$GPS2,190917,142724,5837.2974,-17005.3594,6,0.8,17,8.8,0.5,114.8,10,4.7
$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,138.5,13588,-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,-487.5,239,1939,1900,4092,0.0,0.0,0,20,5.68,0.00,0.00,0.000,2049,0.090,0.000,724,1932,1900,1900,4094,0,0,0,0,0,0,26.42,28.83,28.83,10.22,52.16
$GC,27,-1.80,-487.5,724,1939,1900,4094,0.9,0.0,1,58,11.10,1.27,-10.62,0.000,18692,0.050,1.209,1755,2370,3056,3056,4095,0,0,0,0,0,0,25.96,23.58,26.03,10.23,52.83
$GC,194,-1.80,-487.5,1754,2369,3060,4095,20.4,-16.6,27,201,0.00,1.02,0.00,0.000,1030,0.000,0.031,1755,1961,3060,3060,4095,0,0,0,0,0,0,26.09,26.06,26.12,10.48,52.75
$GC,237,-1.80,-487.5,1755,1961,3062,4095,27.8,-17.2,33,243,0.00,1.10,0.00,0.000,516,0.000,0.051,1755,1523,3062,3062,4094,0,0,0,0,0,0,26.51,25.91,26.52,10.47,52.71
$GC,369,-1.80,-487.5,1755,1523,3065,4094,46.1,-13.6,54,376,0.00,0.93,0.00,0.000,1030,0.000,0.025,1755,1932,3065,3065,4094,0,0,0,0,0,0,26.29,26.26,26.32,10.42,50.86
$GC,412,-1.80,-487.5,1754,1931,3066,4094,52.0,-13.9,60,418,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1931,3066,3066,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.41,50.82
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,444,-0.45,0.0,1754,2130,3067,4094,55.4,-14.1,63,485,4.57,0.00,28.90,1.271,10244,0.054,0.000,2185,2131,2484,2484,4094,0,0,0,0,0,0,26.03,24.53,23.65,10.41,50.55
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,493,1.80,487.5,2184,2131,2484,4094,59.5,0.0,70,535,7.38,1.10,28.42,1.243,10756,0.029,0.043,2902,1707,1916,1916,4094,0,0,0,0,0,0,25.58,25.53,23.34,10.29,49.72
$GC,601,1.80,487.5,2902,1707,1914,4094,50.0,14.1,86,607,0.00,1.08,0.00,0.000,1030,0.000,0.031,2902,2135,1913,1913,4094,0,0,0,0,0,0,25.57,25.53,25.60,10.16,49.33
$GC,644,1.80,487.5,2902,2135,1912,4094,43.3,13.8,92,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1912,1912,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.16,49.25
$GC,685,1.80,487.5,2902,2135,1911,4094,37.3,14.0,98,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1911,1911,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.15,49.09
$GC,727,1.80,487.5,2902,2135,1910,4094,31.4,14.4,104,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1909,1909,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.15,48.89
$GC,769,1.80,487.5,2902,2135,1908,4094,26.0,12.2,110,775,0.00,1.12,0.00,0.000,516,0.000,0.045,2902,1709,1908,1908,4095,0,0,0,0,0,0,26.33,25.81,26.34,10.16,50.00
$GC,889,1.80,487.5,2902,1709,1905,4095,12.2,11.4,129,896,0.00,1.05,0.00,0.000,1030,0.000,0.031,2903,2139,1904,1904,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.19,51.69
$GC,932,1.99,613.3,2902,2139,1904,4094,8.3,8.9,135,946,0.52,0.00,7.88,0.588,10246,0.031,0.000,2967,2139,1768,1768,4094,0,0,0,0,0,0,26.22,25.18,24.18,10.20,52.16
$STATE,975,end climb,FINISH_DEPTH_REACHED
$STATE,975,begin subsurface finish
$FINISH1,1.9,1.024621,68
$GC,991,0.10,68.2,2966,2139,1765,4094,1.9,15.2,142,1009,5.93,0.00,-5.47,0.000,20486,0.018,0.000,2363,2139,2410,2410,4094,0,0,0,0,0,0,26.19,25.53,26.21,10.17,52.44
$FINISH2,0.4
$STATE,1010,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1010,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,190917,131452
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.99
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.34,92.155
$10V_AH,10.03,80.831
$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,35.175,9.150,65.200,0.000,0.000,24.989,19.815,251.345,0.000,0.000,19.075,378.772,225.431,142.213,461.981,363.229,0.000,304.732,0.000,221.922,0.000,0.542,0.000
$DEVICE_MAMPS,89.505,1208.700,1271.430,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.376,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333536
$DATA_FILE_SIZE,10823,145
$CAP_FILE_SIZE,27643,0
$CFSIZE,1024409600,890486784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190917,142724,5837.297,-17005.359,6,0.8,17,8.8,0.5,114.8,10,4.7