version: 66.13
glider: 401
mission: 22
dive: 2984
start: 9 16 117 14 38 27
data:
$ID,401
$MISSION,22
$DIVE,2984
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,160917,141843,5853.4150,-17019.7461,8,0.7,15,8.7,0.0,241.8,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-2.3
$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,-487.5,2369,1941,2400,4092,0.0,0.0,0,23,6.05,0.00,-2.38,0.000,20482,0.021,0.000,1764,1941,2642,2642,4094,0,0,0,0,0,0,26.25,28.83,26.31,10.31,52.55
$GC,30,-1.80,-487.5,1764,1941,2642,4094,0.0,0.0,1,41,0.00,1.25,-3.75,0.000,16644,0.000,1.216,1764,2379,3056,3056,4094,0,0,0,0,0,0,26.58,23.76,26.58,10.37,52.83
$GC,304,-1.80,-487.5,1764,2379,3064,4094,38.9,-12.9,40,313,0.00,1.05,0.00,0.000,1030,0.000,0.031,1764,1957,3064,3064,4094,0,0,0,0,0,0,26.25,26.22,26.29,10.41,52.52
$GC,355,-1.80,-487.5,1764,1957,3065,4094,45.7,-13.9,46,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3065,3065,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.40,51.77
$GC,406,-1.80,-487.5,1764,1957,3067,4095,52.7,-13.9,52,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1957,3067,3067,4095,0,0,0,0,0,0,26.68,26.70,26.70,10.40,50.66
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,437,-0.45,0.0,1764,2146,3067,4094,56.2,-14.1,54,473,4.50,0.00,28.90,1.284,10244,0.054,0.000,2186,2147,2484,2484,4094,0,0,0,0,0,0,26.14,25.12,23.77,10.39,50.59
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,480,1.80,487.5,2186,2146,2484,4094,60.3,0.0,58,525,7.45,0.00,28.50,1.250,11270,0.030,0.000,2902,2146,1915,1915,4094,0,0,0,0,0,0,25.72,25.91,23.40,10.28,49.48
$GC,567,1.80,487.5,2901,2146,1914,4094,53.4,13.0,68,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2147,1914,1914,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.15,48.34
$GC,617,1.80,487.5,2901,2146,1913,4094,46.7,13.6,74,626,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2147,1913,1913,4094,0,0,0,0,0,0,25.98,26.00,25.99,10.14,48.38
$GC,668,1.80,487.5,2901,2146,1911,4094,39.7,13.6,80,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2147,1911,1911,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.14,48.93
$GC,718,1.80,487.5,2901,2146,1909,4094,33.0,12.6,86,728,0.00,1.15,0.00,0.000,516,0.000,0.046,2902,1714,1910,1910,4094,0,0,0,0,0,0,26.24,25.74,26.25,10.13,48.70
$GC,820,1.80,487.5,2902,1713,1907,4094,20.1,11.1,100,830,0.00,1.00,0.00,0.000,1030,0.000,0.030,2902,2124,1907,1907,4094,0,0,0,0,0,0,26.04,26.01,26.07,10.17,49.80
$GC,870,1.80,487.5,2901,2124,1905,4094,14.5,11.1,106,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1905,1905,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.18,51.41
$GC,919,1.80,487.5,2902,2124,1904,4094,8.9,11.5,112,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1904,1904,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.19,52.32
$GC,968,1.80,487.5,2901,2124,1902,4094,3.1,11.8,118,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1902,1902,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.19,52.00
$STATE,985,end climb,FINISH_DEPTH_REACHED
$STATE,985,begin subsurface finish
$FINISH1,0.4,1.024504,76
$GC,1000,0.11,76.4,2902,2123,1902,4094,0.4,11.7,120,1019,5.28,1.17,-4.82,0.000,20996,0.024,1.209,2374,1718,2400,2400,4094,0,0,0,0,0,0,26.22,23.67,26.27,10.20,52.20
$FINISH2,-0.1
$STATE,1020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,160917,141151
$TT8_MAMPS,0.024717,0.243425
$HUMID,52.63
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.40,86.967
$10V_AH,9.87,77.003
$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,23.275,6.525,57.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,348.293,0.979,98.371,510.636,125.023,0.000,297.886,0.000,299.637,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1215.585,1283.670,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.869,331.490,262.312,389.211,509.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333668
$DATA_FILE_SIZE,10834,122
$CAP_FILE_SIZE,20722,0
$CFSIZE,1024409600,899579904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160917,141843,5853.415,-17019.746,8,0.7,15,8.7,0.0,241.8,10,5.0