version: 66.13
glider: 401
mission: 22
dive: 2995
start: 9 16 117 18 52 25
data:
$ID,401
$MISSION,22
$DIVE,2995
$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,27
$R_STBD_OVSHOOT,36
$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
$GPS1,160917,184140,5851.4829,-17020.5996,4,0.7,15,8.7,0.6,228.1,11,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-36.4
$GPS2,160917,185146,5851.4697,-17020.8223,5,0.8,16,8.7,0.5,251.5,11,5.0
$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,140.7,43784,-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,-487.5,230,1961,1762,4092,0.0,0.0,0,20,5.70,0.00,0.00,0.000,2049,0.103,0.000,704,1962,1763,1763,4094,0,0,0,0,0,0,26.37,28.83,28.83,10.21,52.20
$GC,27,-1.80,-487.5,704,1969,1762,4094,0.8,0.0,1,58,11.12,1.12,-12.68,0.000,18692,0.043,1.193,1755,2378,3055,3055,4095,0,0,0,0,0,0,25.96,23.52,26.03,10.21,52.87
$GC,278,-1.80,-487.5,1754,2383,3061,4095,30.7,-14.6,41,285,0.00,1.08,0.00,0.000,1030,0.000,0.029,1755,1952,3061,3061,4095,0,0,0,0,0,0,26.16,26.13,26.19,10.46,51.65
$GC,321,-1.80,-487.5,1754,1952,3062,4095,36.6,-13.8,47,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1952,3062,3062,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.43,51.10
$GC,363,-1.80,-487.5,1754,1951,3063,4095,42.9,-15.0,53,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1952,3063,3063,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.43,50.47
$GC,405,-1.80,-487.5,1754,1952,3064,4095,49.0,-14.4,59,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1952,3064,3064,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.42,50.35
$STATE,440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,440,begin apogee
$GC,455,-0.45,0.0,1755,2137,3066,4094,55.0,-14.2,65,491,4.60,0.00,28.77,1.248,10244,0.054,0.000,2185,2138,2484,2484,4095,0,0,0,0,0,0,26.08,25.07,23.72,10.41,49.52
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,492,begin climb
$GC,498,1.80,487.5,2185,2137,2484,4095,58.2,0.0,71,540,7.45,0.00,28.45,1.221,11270,0.030,0.000,2900,2138,1915,1915,4094,0,0,0,0,0,0,25.70,25.88,23.39,10.29,48.81
$GC,576,1.80,487.5,2899,2138,1914,4094,51.8,13.5,83,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2138,1914,1914,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.17,48.18
$GC,618,1.80,487.5,2899,2137,1913,4094,46.0,13.7,89,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2138,1913,1913,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.16,48.07
$GC,660,1.80,487.5,2899,2137,1912,4094,40.3,13.6,95,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2138,1912,1912,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.15,48.74
$GC,702,1.80,487.5,2899,2137,1911,4094,34.9,12.7,101,708,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1706,1911,1911,4094,0,0,0,0,0,0,26.17,25.69,26.18,10.15,48.11
$GC,904,1.80,487.5,2899,1705,1905,4094,11.4,11.7,133,911,0.00,1.02,0.00,0.000,1030,0.000,0.031,2900,2126,1905,1905,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.20,52.48
$GC,947,1.86,525.2,2899,2127,1904,4094,6.9,10.2,139,955,0.10,0.00,3.40,0.330,10246,0.078,0.000,2921,2127,1871,1871,4095,0,0,0,0,0,0,26.27,24.99,23.92,10.20,52.91
$GC,991,1.88,538.1,2920,2127,1870,4095,2.4,10.6,145,998,0.00,0.00,2.53,0.166,8198,0.000,0.000,2921,2127,1855,1855,4094,0,0,0,0,0,0,26.51,25.05,24.04,10.20,52.24
$STATE,1003,end climb,FINISH_DEPTH_REACHED
$STATE,1003,begin subsurface finish
$FINISH1,0.7,1.024495,77
$GC,1018,0.12,77.0,2921,2127,1855,4094,0.7,9.6,147,1031,5.45,0.00,-5.12,0.000,20486,0.024,0.000,2375,2128,2399,2399,4095,0,0,0,0,0,0,26.17,24.37,26.23,10.20,52.67
$FINISH2,-0.0
$STATE,1032,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1033,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,160917,173814
$TT8_MAMPS,0.025466,0.132573
$HUMID,52.99
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.39,87.271
$10V_AH,10.15,77.235
$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,34.425,4.850,63.150,0.000,0.000,23.032,17.115,303.885,0.000,0.000,18.006,393.019,239.271,131.503,511.731,367.623,0.000,293.675,0.000,227.466,0.000,0.543,0.000
$DEVICE_MAMPS,102.510,1193.400,1247.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333552
$DATA_FILE_SIZE,10827,149
$CAP_FILE_SIZE,27562,0
$CFSIZE,1024409600,899039232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160917,185146,5851.470,-17020.822,5,0.8,16,8.7,0.5,251.5,11,5.0