version: 66.13
glider: 401
mission: 22
dive: 2888
start: 9 15 117 1 56 31
data:
$ID,401
$MISSION,22
$DIVE,2888
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,150917,013712,5904.1514,-17027.8066,8,0.8,31,8.6,0.3,98.5,10,4.9
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.0
$GPS2,150917,013712,5904.1514,-17027.8066,8,0.8,31,8.6,0.3,98.5,10,4.9
$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,146.0,67717,-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,-487.5,2376,1934,2389,4092,0.0,0.0,0,23,6.22,0.00,-2.17,0.000,20482,0.023,0.000,1762,1935,2618,2618,4094,0,0,0,0,0,0,26.24,28.83,26.29,10.33,52.67
$GC,31,-1.80,-487.5,1762,1935,2618,4094,0.2,0.0,1,40,0.00,0.00,-4.25,0.000,16390,0.000,0.000,1762,1935,3058,3058,4094,0,0,0,0,0,0,26.58,24.49,26.58,10.38,52.83
$GC,80,-1.80,-487.5,1761,1935,3058,4094,2.2,-8.6,7,89,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1935,3059,3059,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.48,52.87
$GC,129,-1.80,-487.5,1762,1935,3060,4095,9.5,-16.9,13,139,0.00,1.17,0.00,0.000,260,0.000,0.046,1762,2372,3060,3060,4095,0,0,0,0,0,0,26.56,26.06,26.58,10.48,52.67
$GC,259,-1.80,-487.5,1761,2372,3064,4095,29.2,-12.6,31,268,0.00,1.02,0.00,0.000,1030,0.000,0.031,1762,1961,3064,3064,4094,0,0,0,0,0,0,26.27,26.26,26.29,10.44,52.44
$GC,310,-1.80,-487.5,1761,1961,3065,4094,35.5,-12.5,37,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3065,3065,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.42,51.96
$GC,361,-1.80,-487.5,1761,1961,3066,4094,41.7,-12.5,43,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1961,3066,3066,4095,0,0,0,0,0,0,26.67,26.68,26.68,10.41,51.33
$GC,412,-1.80,-487.5,1761,1961,3068,4095,48.1,-12.5,49,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1962,3067,3067,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.41,50.23
$GC,462,-1.80,-487.5,1761,1961,3068,4094,54.4,-12.8,55,471,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1961,3069,3069,4095,0,0,0,0,0,0,26.70,26.72,26.72,10.40,50.31
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,493,-0.45,0.0,1762,2146,3069,4095,57.6,-12.9,57,529,4.55,0.00,29.02,1.294,10244,0.054,0.000,2185,2147,2484,2484,4095,0,0,0,0,0,0,26.17,25.16,23.82,10.40,49.48
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,537,1.80,487.5,2184,2146,2483,4095,61.6,0.0,61,582,7.60,0.00,28.38,1.265,11270,0.029,0.000,2902,2147,1918,1918,4094,0,0,0,0,0,0,25.72,25.92,23.44,10.28,48.74
$GC,624,1.80,487.5,2901,2146,1916,4094,55.8,12.1,71,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2147,1916,1916,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.16,47.75
$GC,674,1.80,487.5,2901,2146,1915,4094,49.4,12.7,77,683,0.00,1.15,0.00,0.000,516,0.000,0.046,2902,1713,1915,1915,4094,0,0,0,0,0,0,25.98,25.55,25.99,10.15,47.99
$GC,790,1.80,487.5,2901,1712,1912,4094,35.0,12.3,93,798,0.00,1.00,0.00,0.000,1030,0.000,0.031,2902,2122,1912,1912,4094,0,0,0,0,0,0,25.95,25.91,26.00,10.14,48.70
$GC,840,1.80,487.5,2901,2121,1911,4094,29.0,11.7,99,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1910,1910,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.14,48.85
$GC,891,1.80,487.5,2901,2121,1909,4094,23.0,11.7,105,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1909,1909,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.15,49.13
$GC,942,1.91,555.6,2902,2121,1908,4094,17.9,9.8,111,952,0.22,0.00,5.20,0.555,10246,0.042,0.000,2936,2121,1835,1835,4094,0,0,0,0,0,0,26.22,25.15,24.05,10.17,49.84
$GC,994,1.91,555.6,2935,2121,1834,4094,12.6,11.3,117,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2121,1834,1834,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.18,51.92
$GC,1044,1.91,555.6,2936,2121,1832,4094,6.7,11.9,123,1053,0.00,1.08,0.00,0.000,516,0.000,0.048,2937,1716,1832,1832,4095,0,0,0,0,0,0,26.48,25.95,26.50,10.18,52.63
$STATE,1080,end climb,FINISH_DEPTH_REACHED
$STATE,1080,begin subsurface finish
$FINISH1,1.5,1.024349,87
$GC,1097,0.13,87.2,2936,2153,1831,4094,1.5,11.5,128,1115,5.62,1.30,-5.10,0.000,20996,0.020,1.233,2382,1708,2387,2387,4094,0,0,0,0,0,0,26.19,23.75,26.25,10.19,52.87
$FINISH2,-0.0
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1117,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,150917,012720
$TT8_MAMPS,0.025466,0.249417
$HUMID,53.34
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.44,84.308
$10V_AH,9.91,74.905
$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,24.225,8.750,62.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.010,0.000,113.952,542.520,143.100,0.000,335.039,0.000,317.806,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1233.180,1293.615,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.120,353.260,279.451,414.257,540.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,14409,130
$CAP_FILE_SIZE,24961,0
$CFSIZE,1024409600,904298496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,013712,5904.151,-17027.807,8,0.8,31,8.6,0.3,98.5,10,4.9