version: 66.13
glider: 401
mission: 22
dive: 2950
start: 9 16 117 1 47 30
data:
$ID,401
$MISSION,22
$DIVE,2950
$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,18
$R_STBD_OVSHOOT,63
$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
$GPS1,160917,013723,5857.9653,-17023.0898,13,0.9,21,8.6,2.0,157.9,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-37.3
$GPS2,160917,014650,5858.0142,-17022.9434,5,0.8,23,8.7,0.3,168.7,10,5.0
$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,145.3,55436,-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,-487.5,238,1957,1901,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.088,0.000,966,1950,1901,1901,4095,0,0,0,0,0,0,26.40,28.83,28.83,10.23,52.99
$GC,30,-1.80,-487.5,966,1954,1901,4095,0.4,0.0,1,57,8.35,0.00,-11.95,0.000,18950,0.042,0.000,1755,1955,3049,3049,4095,0,0,0,0,0,0,25.91,25.41,26.01,10.23,52.83
$GC,99,-1.80,-487.5,1754,1955,3051,4095,3.8,-13.8,9,107,0.00,1.12,0.00,0.000,516,0.000,0.050,1755,1515,3051,3051,4095,0,0,0,0,0,0,26.36,25.82,26.37,10.48,52.59
$GC,187,-1.80,-487.5,1754,1515,3053,4095,18.1,-16.5,21,196,0.00,0.95,0.00,0.000,1030,0.000,0.027,1755,1923,3053,3053,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.48,52.32
$GC,237,-1.80,-487.5,1755,1923,3055,4095,26.0,-15.4,27,246,0.00,1.17,0.00,0.000,260,0.000,0.044,1755,2376,3055,3055,4095,0,0,0,0,0,0,26.50,25.96,26.51,10.46,51.65
$GC,347,-1.80,-487.5,1754,2376,3058,4095,41.5,-14.5,42,356,0.00,0.98,0.00,0.000,1030,0.000,0.028,1755,1983,3058,3058,4094,0,0,0,0,0,0,26.24,26.22,26.27,10.42,50.19
$GC,397,-1.80,-487.5,1754,1984,3059,4094,49.1,-14.9,48,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1983,3059,3059,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.41,50.07
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,433,begin apogee
$GC,448,-0.45,0.0,1755,2141,3060,4094,55.8,-14.6,53,490,4.60,0.00,28.65,1.289,10244,0.054,0.000,2186,2141,2485,2485,4094,0,0,0,0,0,0,26.07,24.58,23.69,10.41,49.52
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,498,1.80,487.5,2185,2141,2485,4094,60.7,0.0,58,542,7.47,0.00,28.30,1.264,11270,0.030,0.000,2902,2141,1921,1921,4094,0,0,0,0,0,0,25.70,25.90,23.37,10.29,48.85
$GC,584,1.80,487.5,2901,2141,1920,4094,54.0,13.0,68,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2142,1920,1920,4094,0,0,0,0,0,0,25.74,25.75,25.75,10.16,48.22
$GC,634,1.80,487.5,2901,2141,1919,4094,47.4,13.1,74,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2141,1919,1919,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.16,48.30
$GC,684,1.80,487.5,2901,2141,1917,4094,40.9,13.1,80,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2141,1917,1917,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.15,48.46
$GC,733,1.80,487.5,2901,2141,1916,4094,34.2,13.2,86,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2142,1915,1915,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.14,48.54
$GC,784,1.80,487.5,2901,2141,1914,4094,27.8,12.4,92,793,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1707,1914,1914,4094,0,0,0,0,0,0,26.32,25.81,26.32,10.14,48.46
$GC,880,1.87,529.4,2901,1707,1912,4094,16.6,10.2,105,891,0.12,1.05,3.95,0.446,11270,0.046,0.031,2924,2136,1866,1866,4094,0,0,0,0,0,0,26.01,26.03,23.91,10.19,50.31
$GC,933,1.87,529.4,2924,2135,1866,4094,11.3,11.1,111,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2136,1865,1865,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.19,51.14
$GC,983,1.87,529.4,2924,2135,1863,4094,4.9,13.3,117,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2136,1863,1863,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.19,51.61
$STATE,1000,end climb,FINISH_DEPTH_REACHED
$STATE,1000,begin subsurface finish
$FINISH1,1.6,1.024510,76
$GC,1015,0.11,75.9,2925,2137,1861,4094,1.6,13.2,119,1034,5.45,0.00,-5.07,0.000,20486,0.018,0.000,2375,2138,2398,2398,4094,0,0,0,0,0,0,26.20,25.53,26.25,10.20,52.00
$FINISH2,-0.1
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,160917,003309
$TT8_MAMPS,0.025466,0.244174
$HUMID,52.48
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.37,86.042
$10V_AH,9.85,76.267
$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,34.500,6.925,60.900,0.000,0.000,29.955,18.555,258.666,0.000,0.000,25.160,357.536,0.000,117.951,772.409,360.357,0.000,337.539,0.000,298.975,0.000,0.543,0.000
$DEVICE_MAMPS,87.975,110.160,1289.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.665,328.793,260.141,385.291,499.500,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333572
$DATA_FILE_SIZE,10846,121
$CAP_FILE_SIZE,28206,0
$CFSIZE,1024409600,901251072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160917,014650,5858.014,-17022.943,5,0.8,23,8.7,0.3,168.7,10,5.0