version: 66.13
glider: 401
mission: 22
dive: 2954
start: 9 16 117 3 18 14
data:
$ID,401
$MISSION,22
$DIVE,2954
$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,32
$R_STBD_OVSHOOT,51
$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
$GPS1,160917,025825,5857.4810,-17021.6367,8,0.9,16,8.7,1.4,147.8,10,5.0
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-2.7
$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,6,begin dive
$GC,13,-1.80,-487.5,2378,1984,2401,4092,0.0,0.0,0,31,6.15,0.00,-6.88,0.000,20486,0.021,0.000,1760,1984,3056,3056,4095,0,0,0,0,0,0,26.27,24.26,26.32,10.32,53.38
$GC,38,-1.80,-487.5,1759,1983,3056,4095,-0.2,-1.2,2,47,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1984,3056,3056,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.45,53.30
$GC,87,-1.80,-487.5,1759,1977,3057,4095,4.8,-11.3,8,96,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1978,3058,3058,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.45,53.50
$GC,136,-1.80,-487.5,1759,1977,3059,4095,13.5,-18.5,14,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1978,3060,3060,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.46,53.34
$GC,186,-1.80,-487.5,1759,1977,3061,4095,22.1,-17.3,20,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1978,3061,3061,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.45,53.11
$GC,234,-1.80,-487.5,1759,1977,3062,4095,29.7,-15.0,26,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1977,3062,3062,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.42,52.08
$GC,283,-1.80,-487.5,1759,1977,3063,4094,36.6,-14.1,32,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1978,3064,3064,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.41,51.77
$GC,331,-1.80,-487.5,1759,1978,3064,4095,43.5,-14.4,38,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1978,3065,3065,4095,0,0,0,0,0,0,26.66,26.68,26.67,10.40,51.26
$GC,380,-1.80,-487.5,1759,1977,3066,4095,50.8,-14.9,44,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1978,3066,3066,4094,0,0,0,0,0,0,26.68,26.70,26.70,10.40,50.59
$STATE,402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,402,begin apogee
$GC,416,-0.45,0.0,1759,2120,3067,4095,55.0,-15.1,47,453,4.55,0.00,28.88,1.284,10246,0.054,0.000,2186,2120,2484,2484,4094,0,0,0,0,0,0,26.13,25.13,23.78,10.39,50.11
$STATE,454,end apogee,CONTROL_FINISHED_OK
$STATE,454,begin climb
$GC,460,1.80,487.5,2186,2120,2484,4094,59.6,0.0,51,505,7.45,0.00,28.20,1.254,10246,0.030,0.000,2902,2120,1919,1919,4094,0,0,0,0,0,0,25.71,24.25,23.39,10.27,50.27
$GC,547,1.80,487.5,2902,2120,1918,4094,53.2,12.6,61,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2120,1918,1918,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.15,48.81
$GC,597,1.80,487.5,2901,2120,1916,4094,46.5,13.7,67,607,0.00,1.08,0.00,0.000,516,0.000,0.046,2902,1715,1916,1916,4094,0,0,0,0,0,0,25.98,25.53,25.99,10.15,48.54
$GC,714,1.80,487.5,2902,1715,1913,4094,30.8,13.9,83,722,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2135,1912,1912,4094,0,0,0,0,0,0,25.94,25.90,25.97,10.12,49.64
$GC,764,1.80,487.5,2902,2135,1911,4094,24.0,13.5,89,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1911,1911,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.13,49.09
$GC,814,1.88,538.6,2902,2135,1910,4094,18.4,10.0,95,824,0.15,0.00,4.38,0.492,10246,0.057,0.000,2930,2135,1855,1855,4094,0,0,0,0,0,0,26.17,25.06,23.94,10.16,50.63
$GC,866,1.88,538.6,2929,2135,1854,4094,12.0,12.5,101,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2135,1853,1853,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.17,51.22
$GC,916,1.88,538.6,2929,2135,1852,4094,5.9,12.4,107,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2135,1852,1852,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.17,52.16
$STATE,939,end climb,FINISH_DEPTH_REACHED
$STATE,939,begin subsurface finish
$FINISH1,1.3,1.024527,75
$GC,954,0.11,74.8,2930,2135,1851,4094,1.3,14.6,110,973,5.57,1.20,-5.53,0.000,20996,0.025,1.217,2378,1722,2399,2399,4094,0,0,0,0,0,0,26.14,23.68,26.20,10.18,52.08
$FINISH2,-0.1
$STATE,974,end subsurface finish,CONTROL_FINISHED_OK
$STATE,974,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,160917,024929
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.20
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.39,86.152
$10V_AH,9.88,76.351
$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,23.875,4.175,61.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,323.357,0.000,112.449,465.446,135.798,0.000,318.838,0.000,277.241,0.000,0.542,0.000
$DEVICE_MAMPS,57.375,1217.115,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,75.514,304.262,240.837,356.901,462.580,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333728
$DATA_FILE_SIZE,10930,112
$CAP_FILE_SIZE,22288,0
$CFSIZE,1024409600,901054464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160917,025825,5857.481,-17021.637,8,0.9,16,8.7,1.4,147.8,10,5.0