version: 66.13
glider: 401
mission: 22
dive: 2999
start: 9 16 117 20 20 27
data:
$ID,401
$MISSION,22
$DIVE,2999
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,160917,200007,5851.3613,-17022.0977,6,0.8,16,8.7,0.5,277.4,10,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-3.6
$GPS2,160917,200007,5851.3613,-17022.0977,6,0.8,16,8.7,0.5,277.4,10,4.9
$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,139.2,44254,-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,-487.5,2376,1932,2399,4092,0.0,0.0,0,26,6.10,0.00,-5.05,0.000,20482,0.020,0.000,1762,1932,2912,2912,4094,0,0,0,0,0,0,26.21,28.83,26.24,10.33,52.40
$GC,33,-1.80,-487.5,1762,1932,2912,4094,0.0,-2.1,2,41,0.00,1.25,-1.40,0.000,16644,0.000,1.208,1762,2368,3056,3056,4095,0,0,0,0,0,0,26.52,23.76,26.45,10.44,52.40
$GC,219,-1.80,-487.5,1762,2368,3062,4095,27.0,-16.8,31,225,0.00,1.00,0.00,0.000,1030,0.000,0.031,1762,1968,3062,3062,4095,0,0,0,0,0,0,26.20,26.16,26.23,10.46,52.87
$GC,261,-1.80,-487.5,1762,1968,3062,4095,32.6,-13.0,37,268,0.00,1.12,0.00,0.000,516,0.000,0.052,1762,1524,3063,3063,4094,0,0,0,0,0,0,26.60,26.03,26.61,10.44,52.00
$GC,346,-1.80,-487.5,1762,1524,3065,4094,44.4,-13.6,50,352,0.00,0.98,0.00,0.000,1030,0.000,0.028,1762,1941,3065,3065,4095,0,0,0,0,0,0,26.32,26.29,26.33,10.41,51.14
$GC,388,-1.80,-487.5,1762,1941,3066,4095,50.0,-12.8,56,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1941,3066,3066,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.40,50.51
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,432,-0.45,0.0,1762,2145,3067,4095,55.2,-13.7,61,469,4.53,0.00,28.73,1.277,10244,0.054,0.000,2186,2145,2484,2484,4095,0,0,0,0,0,0,26.13,25.12,23.77,10.40,50.03
$STATE,470,end apogee,CONTROL_FINISHED_OK
$STATE,470,begin climb
$GC,476,1.80,487.5,2186,2145,2484,4095,59.5,0.0,67,518,7.43,0.00,28.30,1.238,11270,0.029,0.000,2900,2145,1915,1915,4094,0,0,0,0,0,0,25.72,25.90,23.41,10.28,50.39
$GC,554,1.80,487.5,2900,2145,1914,4094,53.1,12.5,79,560,0.00,1.17,0.00,0.000,516,0.000,0.047,2901,1714,1914,1914,4094,0,0,0,0,0,0,25.72,25.30,25.72,10.15,48.97
$GC,798,1.80,487.5,2900,1714,1907,4094,21.0,10.9,118,805,0.00,0.98,0.00,0.000,1030,0.000,0.028,2900,2120,1907,1907,4094,0,0,0,0,0,0,26.06,26.03,26.08,10.17,50.51
$GC,841,1.80,487.5,2900,2119,1906,4094,16.2,11.3,124,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2120,1906,1906,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.18,51.29
$GC,883,1.80,487.5,2900,2119,1905,4095,11.4,11.8,130,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1904,1904,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.19,52.63
$GC,925,1.80,487.5,2900,2119,1903,4094,6.7,11.2,136,931,0.00,1.08,0.00,0.000,516,0.000,0.047,2900,1713,1903,1903,4094,0,0,0,0,0,0,26.49,25.97,26.51,10.20,52.48
$STATE,961,end climb,FINISH_DEPTH_REACHED
$STATE,961,begin subsurface finish
$FINISH1,1.8,1.024486,78
$GC,977,0.12,77.6,2900,2136,1901,4094,1.8,11.1,142,991,5.20,0.00,-4.70,0.000,20486,0.019,0.000,2374,2136,2398,2398,4094,0,0,0,0,0,0,26.25,24.39,26.29,10.20,53.34
$FINISH2,-0.0
$STATE,992,end subsurface finish,CONTROL_FINISHED_OK
$STATE,992,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,160917,184540
$TT8_MAMPS,0.025466,0.110103
$HUMID,52.99
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.41,87.373
$10V_AH,10.27,77.321
$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,23.250,9.575,57.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.863,242.530,111.566,209.057,113.717,0.000,257.674,0.000,218.597,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1207.935,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,10822,144
$CAP_FILE_SIZE,21289,0
$CFSIZE,1024409600,898842624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160917,200007,5851.361,-17022.098,6,0.8,16,8.7,0.5,277.4,10,4.9