version: 66.13
glider: 401
mission: 22
dive: 2953
start: 9 16 117 2 59 11
data:
$ID,401
$MISSION,22
$DIVE,2953
$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,24
$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
$GPS1,160917,024527,5857.5034,-17021.8008,15,0.8,44,8.7,0.5,302.7,11,4.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-42.0
$GPS2,160917,025825,5857.4810,-17021.6367,8,0.9,16,8.7,1.4,147.8,10,5.0
$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,146.0,53998,-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,-487.5,231,1974,1902,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.094,0.000,709,1967,1902,1902,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.23,52.40
$GC,27,-1.80,-487.5,708,1974,1903,4094,0.4,0.0,1,57,11.32,0.00,-12.02,0.000,18950,0.054,0.000,1752,1974,3054,3054,4094,0,0,0,0,0,0,25.80,25.37,25.92,10.23,52.08
$GC,93,-1.80,-487.5,1752,1974,3054,4094,2.1,-9.6,11,100,0.00,1.15,0.00,0.000,516,0.000,0.045,1752,1517,3054,3054,4095,0,0,0,0,0,0,26.32,25.84,26.34,10.48,52.36
$GC,172,-1.80,-487.5,1752,1517,3057,4095,15.6,-19.1,23,178,0.00,1.02,0.00,0.000,1030,0.000,0.027,1752,1951,3057,3057,4095,0,0,0,0,0,0,26.12,26.08,26.13,10.48,51.77
$GC,214,-1.80,-487.5,1752,1951,3058,4095,22.8,-16.4,29,221,0.00,1.10,0.00,0.000,260,0.000,0.047,1752,2370,3059,3059,4094,0,0,0,0,0,0,26.46,25.93,26.48,10.47,51.22
$GC,311,-1.80,-487.5,1752,2369,3061,4094,37.0,-14.7,44,318,0.00,0.93,0.00,0.000,1030,0.000,0.028,1752,1991,3062,3062,4095,0,0,0,0,0,0,26.22,26.18,26.24,10.43,50.31
$GC,354,-1.80,-487.5,1752,1991,3062,4095,43.5,-15.2,50,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1991,3062,3062,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.42,50.11
$GC,395,-1.80,-487.5,1752,1991,3064,4095,49.8,-15.0,56,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1990,3064,3064,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.41,49.68
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,445,-0.45,0.0,1752,2146,3065,4095,55.9,-14.9,62,487,4.65,0.00,28.85,1.291,10244,0.054,0.000,2186,2145,2484,2484,4095,0,0,0,0,0,0,26.04,25.04,23.68,10.41,50.07
$STATE,488,end apogee,CONTROL_FINISHED_OK
$STATE,488,begin climb
$GC,494,1.80,487.5,2186,2145,2484,4095,60.3,0.0,69,536,7.45,0.00,28.50,1.257,11270,0.031,0.000,2903,2146,1916,1916,4095,0,0,0,0,0,0,25.67,25.88,23.34,10.29,48.85
$GC,572,1.80,487.5,2902,2145,1915,4095,54.5,12.7,81,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1914,1914,4094,0,0,0,0,0,0,25.68,25.70,25.69,10.16,48.46
$GC,614,1.80,487.5,2902,2145,1913,4094,49.1,13.6,87,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1913,1913,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.16,48.66
$GC,655,1.80,487.5,2902,2145,1912,4094,43.3,13.6,93,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2146,1912,1912,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.16,47.75
$GC,697,1.80,487.5,2902,2145,1911,4094,37.7,13.6,99,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2145,1911,1911,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.15,48.26
$GC,739,1.80,487.5,2903,2145,1909,4094,32.1,12.9,105,746,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1717,1909,1909,4094,0,0,0,0,0,0,26.25,25.76,26.25,10.14,48.50
$GC,835,1.80,487.5,2903,1717,1907,4094,19.7,10.9,120,842,0.00,0.98,0.00,0.000,1030,0.000,0.028,2903,2122,1906,1906,4094,0,0,0,0,0,0,26.06,26.03,26.09,10.16,49.84
$GC,878,1.80,487.5,2903,2121,1906,4094,15.1,10.9,126,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2122,1905,1905,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.18,50.00
$GC,920,1.80,487.5,2902,2121,1904,4094,10.3,11.3,132,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2122,1904,1904,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.18,51.69
$GC,962,1.80,487.5,2903,2121,1903,4094,5.2,11.9,138,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2122,1903,1903,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.20,51.85
$STATE,985,end climb,FINISH_DEPTH_REACHED
$STATE,985,begin subsurface finish
$FINISH1,1.2,1.024520,75
$GC,1000,0.11,75.2,2903,2122,1901,4094,1.2,13.7,142,1015,5.28,1.20,-4.88,0.000,20996,0.024,1.220,2378,1719,2401,2401,4095,0,0,0,0,0,0,26.19,23.69,26.25,10.20,51.96
$FINISH2,-0.3
$STATE,1016,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1016,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,160917,024929
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.52
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.34,86.130
$10V_AH,10.07,76.324
$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,34.325,7.875,57.350,0.000,0.000,55.657,51.990,351.243,0.000,0.000,18.240,380.060,258.961,149.062,635.214,383.097,0.000,318.086,0.000,220.487,0.000,0.543,0.000
$DEVICE_MAMPS,94.095,1220.175,1291.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333560
$DATA_FILE_SIZE,10815,144
$CAP_FILE_SIZE,30838,0
$CFSIZE,1024409600,901103616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160917,025825,5857.481,-17021.637,8,0.9,16,8.7,1.4,147.8,10,5.0