version: 66.13
glider: 401
mission: 22
dive: 3049
start: 9 17 117 16 3 0
data:
$ID,401
$MISSION,22
$DIVE,3049
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,170917,155200,5850.1890,-17020.0605,8,0.8,16,8.7,0.7,171.8,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-40.2
$GPS2,170917,160221,5850.1685,-17019.9316,5,0.8,18,8.7,0.6,304.5,9,4.7
$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,140.0,41274,-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,13,-1.80,-487.5,231,1934,1902,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.089,0.000,715,1934,1902,1902,4095,0,0,0,0,0,0,26.40,28.83,28.83,10.24,52.36
$GC,27,-1.80,-487.5,715,1934,1902,4095,0.9,0.0,1,58,11.60,1.30,-10.77,0.000,18692,0.069,1.203,1753,2379,3057,3057,4094,0,0,0,0,0,0,25.86,23.57,25.91,10.24,52.40
$GC,296,-1.80,-487.5,1753,2378,3064,4094,35.2,-13.1,44,302,0.00,1.08,0.00,0.000,1030,0.000,0.031,1754,1948,3064,3064,4095,0,0,0,0,0,0,26.15,26.11,26.19,10.46,51.53
$GC,338,-1.80,-487.5,1753,1948,3064,4095,40.8,-13.4,50,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3065,3065,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.44,51.41
$GC,380,-1.80,-487.5,1753,1948,3066,4095,46.4,-14.1,56,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3066,3066,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.43,50.47
$GC,422,-1.80,-487.5,1753,1947,3067,4095,52.5,-14.9,62,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1948,3068,3068,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.42,50.15
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,454,-0.45,0.0,1754,2153,3068,4094,55.8,-14.1,65,495,4.57,0.00,28.92,1.254,10244,0.053,0.000,2185,2153,2484,2484,4094,0,0,0,0,0,0,26.08,25.07,23.72,10.42,50.27
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,503,1.80,487.5,2185,2153,2484,4094,59.6,0.0,72,544,7.43,0.00,28.38,1.231,11270,0.028,0.000,2902,2153,1915,1915,4094,0,0,0,0,0,0,25.72,25.92,23.40,10.30,48.93
$GC,581,1.80,487.5,2902,2153,1914,4094,52.9,13.3,84,587,0.00,1.17,0.00,0.000,516,0.000,0.045,2902,1717,1914,1914,4094,0,0,0,0,0,0,25.74,25.32,25.75,10.17,47.91
$GC,683,1.80,487.5,2902,1717,1911,4094,38.1,15.5,100,690,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2134,1911,1911,4094,0,0,0,0,0,0,25.83,25.79,25.85,10.16,48.89
$GC,726,1.80,487.5,2902,2133,1909,4094,32.0,13.4,106,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1909,1909,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.16,48.93
$GC,768,1.80,487.5,2902,2133,1908,4094,26.5,13.3,112,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1908,1908,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.18,48.93
$GC,809,1.80,487.5,2902,2134,1907,4094,21.5,11.4,118,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1907,1907,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.20,50.27
$GC,851,1.80,487.5,2902,2134,1906,4094,16.5,12.4,124,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1906,1906,4095,0,0,0,0,0,0,26.42,26.44,26.44,10.21,51.22
$GC,893,1.80,487.5,2902,2133,1905,4095,11.6,10.9,130,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1905,1905,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.21,51.85
$GC,935,1.80,487.5,2902,2133,1903,4094,6.9,11.5,136,941,0.00,1.10,0.00,0.000,516,0.000,0.048,2902,1717,1903,1903,4095,0,0,0,0,0,0,26.50,25.96,26.51,10.22,51.96
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,2.0,1.024559,73
$GC,993,0.11,72.5,2902,2142,1902,4095,2.0,10.0,143,1007,5.53,0.00,-4.55,0.000,20486,0.047,0.000,2374,2152,2404,2404,4094,0,0,0,0,0,0,26.22,24.37,26.27,10.22,52.52
$FINISH2,0.1
$STATE,1008,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1008,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,170917,144832
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.48
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.40,88.814
$10V_AH,10.06,78.452
$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,34.775,7.275,57.300,0.000,0.000,25.912,33.675,298.946,0.000,0.000,19.650,380.159,226.085,138.294,520.138,368.865,0.000,300.994,0.000,221.882,0.000,0.544,0.000
$DEVICE_MAMPS,88.740,1202.580,1253.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.418,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333520
$DATA_FILE_SIZE,10793,145
$CAP_FILE_SIZE,27655,0
$CFSIZE,1024409600,896385024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170917,160221,5850.168,-17019.932,5,0.8,18,8.7,0.6,304.5,9,4.7