version: 66.13
glider: 401
mission: 22
dive: 2986
start: 9 16 117 15 28 16
data:
$ID,401
$MISSION,22
$DIVE,2986
$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,54
$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
$GPS1,160917,151650,5853.0059,-17019.2012,4,0.8,16,8.7,0.3,271.1,11,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-41.3
$GPS2,160917,152730,5852.9849,-17019.1191,9,0.8,20,8.7,0.5,121.5,11,4.8
$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,144.3,45450,-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,-487.5,236,1942,1893,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.096,0.000,952,1935,1893,1893,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.23,52.52
$GC,29,-1.80,-487.5,952,1940,1893,4094,0.7,0.0,1,56,8.45,1.17,-11.60,0.000,18692,0.040,1.200,1754,2349,3054,3054,4095,0,0,0,0,0,0,25.94,23.54,26.03,10.24,52.55
$GC,319,-1.80,-487.5,1753,2349,3062,4095,37.3,-14.2,42,329,0.00,1.00,0.00,0.000,1030,0.000,0.030,1754,1953,3062,3062,4094,0,0,0,0,0,0,26.24,26.17,26.22,10.44,51.85
$GC,371,-1.80,-487.5,1754,1953,3064,4094,44.3,-13.8,48,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1953,3063,3063,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.42,50.27
$GC,421,-1.80,-487.5,1754,1953,3064,4095,51.6,-14.7,54,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1953,3064,3064,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.41,49.48
$STATE,438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,438,begin apogee
$GC,452,-0.45,0.0,1754,2119,3065,4094,55.1,-14.4,56,489,4.60,0.00,28.95,1.264,10244,0.054,0.000,2184,2119,2484,2484,4094,0,0,0,0,0,0,26.08,25.06,23.70,10.41,49.76
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,496,1.80,487.5,2185,2118,2484,4094,59.5,0.0,60,540,7.47,0.00,28.48,1.239,11270,0.029,0.000,2902,2119,1917,1917,4094,0,0,0,0,0,0,25.69,25.88,23.35,10.29,48.81
$GC,582,1.80,487.5,2902,2118,1917,4094,52.9,12.6,70,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1916,1916,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.16,47.59
$GC,633,1.80,487.5,2901,2118,1915,4094,46.2,13.4,76,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1914,1914,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.16,47.40
$GC,683,1.80,487.5,2901,2119,1913,4094,39.5,13.5,82,692,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2119,1913,1913,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.15,47.75
$GC,734,1.80,487.5,2901,2118,1912,4094,32.5,13.8,88,743,0.00,1.10,0.00,0.000,516,0.000,0.047,2902,1705,1911,1911,4094,0,0,0,0,0,0,26.24,25.73,26.25,10.15,48.34
$GC,851,1.80,487.5,2901,1704,1907,4094,17.9,10.9,104,860,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2129,1908,1908,4094,0,0,0,0,0,0,26.07,26.04,26.09,10.19,49.92
$GC,902,1.81,490.2,2901,2129,1907,4094,12.6,10.7,110,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1907,1907,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.20,50.90
$GC,953,1.82,499.4,2901,2129,1906,4094,7.2,10.6,116,963,0.00,0.00,0.25,0.003,8198,0.000,0.000,2902,2129,1905,1905,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.20,51.37
$STATE,990,end climb,FINISH_DEPTH_REACHED
$STATE,990,begin subsurface finish
$FINISH1,2.0,1.024501,77
$GC,1005,0.11,76.5,2901,2129,1904,4094,2.0,12.4,121,1024,5.20,0.00,-4.40,0.000,20486,0.018,0.000,2371,2129,2399,2399,4094,0,0,0,0,0,0,26.25,25.52,26.29,10.21,52.44
$FINISH2,0.3
$STATE,1025,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1025,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,160917,141321
$TT8_MAMPS,0.025466,0.247919
$HUMID,51.65
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.35,87.026
$10V_AH,9.85,77.050
$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,34.200,4.800,57.675,0.000,0.000,63.291,22.229,248.469,0.000,0.000,21.327,361.601,44.368,103.574,811.794,356.169,0.000,309.933,0.000,303.769,0.000,0.859,0.000
$DEVICE_MAMPS,95.625,1199.520,1263.780,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.419,334.158,264.488,392.411,512.836,0.000,0.000,0.000,0.000,0.000
$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,10802,123
$CAP_FILE_SIZE,26138,0
$CFSIZE,1024409600,899481600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,160917,152730,5852.985,-17019.119,9,0.8,20,8.7,0.5,121.5,11,4.8