version: 66.13
glider: 401
mission: 22
dive: 2941
start: 9 15 117 22 21 7
data:
$ID,401
$MISSION,22
$DIVE,2941
$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,12
$R_STBD_OVSHOOT,52
$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
$GPS1,150917,221058,5857.4453,-17026.4238,2,0.9,16,8.6,0.5,17.3,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-35.1
$GPS2,150917,222025,5857.6187,-17026.4922,7,0.8,7,8.6,0.8,329.7,11,0.0
$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,141.9,56388,-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,-487.5,229,1959,1901,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,2049,0.088,0.000,710,1959,1901,1901,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.24,52.95
$GC,26,-1.80,-487.5,709,1959,1901,4094,0.3,0.0,1,56,11.38,0.00,-12.10,0.000,18950,0.057,0.000,1754,1958,3054,3054,4094,0,0,0,0,0,0,25.94,25.39,26.02,10.24,52.12
$GC,92,-1.80,-487.5,1753,1956,3054,4094,3.2,-12.5,11,99,0.00,1.15,0.00,0.000,516,0.000,0.047,1754,1504,3055,3055,4094,0,0,0,0,0,0,26.34,25.83,26.35,10.49,52.83
$GC,171,-1.80,-487.5,1753,1504,3057,4094,14.3,-15.0,23,177,0.00,1.00,0.00,0.000,1030,0.000,0.027,1754,1929,3057,3057,4095,0,0,0,0,0,0,26.13,26.10,26.14,10.49,52.00
$GC,214,-1.80,-487.5,1753,1928,3058,4095,21.0,-16.9,29,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1929,3058,3058,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.49,51.61
$GC,255,-1.80,-487.5,1754,1929,3060,4094,27.3,-14.8,35,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1929,3060,3060,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.46,51.22
$GC,297,-1.80,-487.5,1753,1930,3060,4095,33.4,-14.5,41,304,0.00,1.15,0.00,0.000,260,0.000,0.044,1754,2370,3061,3061,4094,0,0,0,0,0,0,26.53,26.00,26.55,10.44,50.86
$GC,376,-1.80,-487.5,1754,2370,3063,4094,44.7,-14.5,53,382,0.00,1.05,0.00,0.000,1030,0.000,0.031,1754,1947,3063,3063,4095,0,0,0,0,0,0,26.20,26.15,26.22,10.42,50.51
$GC,418,-1.80,-487.5,1754,1947,3064,4095,50.7,-14.5,59,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3064,3064,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.41,50.03
$STATE,448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,448,begin apogee
$GC,462,-0.45,0.0,1754,2138,3065,4095,55.7,-14.1,64,498,4.62,0.00,28.62,1.264,10244,0.055,0.000,2186,2138,2483,2483,4094,0,0,0,0,0,0,26.06,25.08,23.75,10.41,49.44
$STATE,499,end apogee,CONTROL_FINISHED_OK
$STATE,500,begin climb
$GC,506,1.80,487.5,2186,2137,2484,4094,59.6,0.0,70,548,7.45,0.00,28.40,1.239,11270,0.029,0.000,2902,2138,1915,1915,4094,0,0,0,0,0,0,25.69,25.87,23.39,10.28,49.09
$GC,584,1.80,487.5,2901,2137,1915,4094,53.8,12.0,82,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1915,1915,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.16,48.11
$GC,625,1.80,487.5,2901,2137,1913,4094,48.0,14.3,88,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1913,1913,4095,0,0,0,0,0,0,25.90,25.91,25.91,10.16,47.95
$GC,667,1.80,487.5,2901,2137,1912,4095,42.1,14.4,94,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2137,1912,1912,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.15,48.85
$GC,709,1.80,487.5,2902,2137,1911,4094,36.4,13.1,100,716,0.00,1.12,0.00,0.000,516,0.000,0.046,2902,1715,1911,1911,4094,0,0,0,0,0,0,26.16,25.68,26.17,10.15,48.07
$GC,793,1.80,487.5,2902,1714,1908,4094,25.4,13.0,113,800,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2135,1908,1908,4095,0,0,0,0,0,0,25.98,25.95,26.06,10.14,49.44
$GC,836,1.80,487.5,2902,2135,1907,4095,19.9,12.5,119,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1907,1907,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.17,49.52
$GC,878,1.80,487.5,2902,2135,1906,4094,15.1,10.8,125,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1906,1906,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.18,51.41
$GC,920,1.80,487.5,2902,2135,1904,4094,10.2,11.8,131,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1904,1904,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.19,51.69
$GC,962,1.80,487.5,2902,2135,1903,4094,5.0,12.6,137,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1903,1903,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.20,52.32
$STATE,985,end climb,FINISH_DEPTH_REACHED
$STATE,985,begin subsurface finish
$FINISH1,1.6,1.024469,79
$GC,1000,0.12,78.8,2902,2136,1902,4094,1.6,11.4,141,1020,5.25,1.23,-4.93,0.000,20996,0.024,1.209,2376,1718,2397,2397,4095,0,0,0,0,0,0,26.18,23.68,26.24,10.20,52.24
$FINISH2,-0.2
$STATE,1021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,150917,211136
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.22
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.39,85.795
$10V_AH,10.07,76.061
$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,34.275,8.300,57.025,0.000,0.000,24.113,24.478,273.550,0.000,0.000,7.774,380.639,210.140,152.288,471.447,382.199,0.000,323.742,0.000,220.276,0.000,0.542,0.000
$DEVICE_MAMPS,87.975,1208.700,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.404,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333552
$DATA_FILE_SIZE,10810,144
$CAP_FILE_SIZE,30582,0
$CFSIZE,1024409600,901693440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,150917,222025,5857.619,-17026.492,7,0.8,7,8.6,0.8,329.7,11,0.0