version: 66.13
glider: 401
mission: 22
dive: 2983
start: 9 16 117 14 19 28
data:
$ID,401
$MISSION,22
$DIVE,2983
$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,25
$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
$GPS1,160917,140729,5853.3965,-17019.8750,39,0.7,43,8.7,0.5,295.6,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-40.8
$GPS2,160917,141843,5853.4150,-17019.7461,8,0.7,15,8.7,0.0,241.8,10,5.0
$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,144.1,46435,-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,-487.5,229,1944,1901,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.090,0.000,710,1951,1902,1902,4095,0,0,0,0,0,0,26.39,28.83,28.83,10.22,52.40
$GC,27,-1.80,-487.5,710,1951,1902,4095,0.6,0.0,1,57,11.25,1.25,-11.50,0.000,18692,0.052,1.204,1756,2369,3053,3053,4095,0,0,0,0,0,0,25.98,23.53,26.06,10.23,52.04
$GC,295,-1.80,-487.5,1755,2369,3060,4095,35.8,-13.5,44,302,0.00,1.05,0.00,0.000,1030,0.000,0.030,1757,1946,3059,3059,4095,0,0,0,0,0,0,26.15,26.11,26.19,10.44,51.26
$GC,338,-1.80,-487.5,1756,1946,3062,4095,41.8,-14.7,50,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1947,3061,3061,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.43,50.59
$GC,380,-1.80,-487.5,1755,1946,3062,4095,48.1,-14.8,56,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1947,3062,3062,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.42,50.00
$GC,422,-1.80,-487.5,1755,1946,3063,4094,54.1,-15.1,62,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1946,3064,3064,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.41,49.60
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,447,-0.45,0.0,1756,2145,3064,4094,56.6,-14.4,64,483,4.60,0.00,28.83,1.277,10244,0.054,0.000,2185,2145,2484,2484,4095,0,0,0,0,0,0,26.06,25.05,23.69,10.40,49.29
$STATE,484,end apogee,CONTROL_FINISHED_OK
$STATE,484,begin climb
$GC,491,1.80,487.5,2185,2145,2484,4095,60.6,0.0,70,532,7.45,0.00,28.50,1.254,11270,0.029,0.000,2901,2145,1915,1915,4094,0,0,0,0,0,0,25.67,25.86,23.34,10.29,49.05
$GC,568,1.80,487.5,2900,2145,1915,4094,54.8,12.8,82,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1914,1914,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.16,48.26
$GC,610,1.80,487.5,2900,2145,1913,4094,49.0,13.6,88,617,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1717,1913,1913,4094,0,0,0,0,0,0,25.89,25.45,25.91,10.16,47.67
$GC,695,1.80,487.5,2900,1716,1910,4094,37.5,13.6,101,701,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2124,1910,1910,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.15,48.07
$GC,737,1.80,487.5,2900,2124,1908,4094,31.6,13.6,107,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1909,1909,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.15,49.05
$GC,779,1.80,487.5,2900,2124,1908,4094,25.8,13.7,113,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1907,1907,4094,0,0,0,0,0,0,26.31,26.33,26.32,10.15,49.33
$GC,821,1.81,494.6,2900,2124,1907,4094,21.2,10.7,119,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1906,1906,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.17,50.07
$GC,863,1.81,494.6,2900,2124,1905,4094,16.5,11.1,125,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1905,1905,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.18,50.35
$GC,905,1.81,494.6,2900,2124,1904,4094,11.6,12.1,131,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1904,1904,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.20,51.29
$GC,947,1.81,494.6,2900,2124,1903,4094,6.8,11.6,137,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1903,1903,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.20,52.04
$STATE,982,end climb,FINISH_DEPTH_REACHED
$STATE,982,begin subsurface finish
$FINISH1,1.9,1.024510,76
$GC,997,0.11,76.0,2901,2124,1901,4094,1.9,12.0,143,1011,5.20,0.00,-4.62,0.000,20998,0.018,0.000,2370,2125,2400,2400,4094,0,0,0,0,0,0,26.25,24.37,26.29,10.20,52.16
$FINISH2,0.1
$STATE,1012,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1012,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,160917,141151
$TT8_MAMPS,0.025466,0.134071
$HUMID,53.03
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.34,86.945
$10V_AH,10.15,76.975
$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,34.125,4.950,57.325,0.000,0.000,55.719,50.858,259.501,0.000,0.000,16.479,381.948,268.744,137.821,529.715,378.405,0.000,301.906,0.000,221.785,0.000,0.544,0.000
$DEVICE_MAMPS,89.505,1204.110,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333572
$DATA_FILE_SIZE,10861,145
$CAP_FILE_SIZE,28793,0
$CFSIZE,1024409600,899629056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160917,141843,5853.415,-17019.746,8,0.7,15,8.7,0.0,241.8,10,5.0