version: 66.13
glider: 401
mission: 22
dive: 2889
start: 9 15 117 2 17 16
data:
$ID,401
$MISSION,22
$DIVE,2889
$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,57
$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,0.04
$_SM_ANGLEo,-2.5
$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,-487.5,2382,1975,2387,4092,0.0,0.0,0,31,6.30,0.00,-6.38,0.000,20486,0.023,0.000,1767,1979,3058,3058,4095,0,0,0,0,0,0,26.17,24.30,26.19,10.33,53.34
$GC,38,-1.80,-487.5,1767,1979,3058,4095,0.1,-1.6,3,44,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1979,3058,3058,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.46,53.26
$GC,79,-1.80,-487.5,1767,1978,3059,4094,4.6,-11.8,9,85,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1979,3059,3059,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.47,52.83
$GC,121,-1.80,-487.5,1767,1979,3060,4095,11.1,-15.6,15,127,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1979,3060,3060,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.47,52.71
$GC,163,-1.80,-487.5,1767,1979,3061,4095,18.2,-17.6,21,169,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1979,3062,3062,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.47,53.50
$GC,204,-1.80,-487.5,1767,1979,3062,4094,25.1,-16.1,27,211,0.00,0.98,0.00,0.000,260,0.000,0.047,1768,2346,3063,3063,4094,0,0,0,0,0,0,26.57,26.07,26.58,10.46,52.91
$GC,253,-1.80,-487.5,1767,2346,3064,4094,32.1,-14.1,34,259,0.00,1.00,0.00,0.000,1030,0.000,0.032,1768,1950,3064,3064,4095,0,0,0,0,0,0,26.22,26.19,26.25,10.44,52.20
$GC,296,-1.80,-487.5,1767,1950,3065,4095,38.1,-14.2,40,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,3066,3066,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.41,51.49
$GC,337,-1.80,-487.5,1767,1950,3066,4095,44.2,-14.3,46,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,3066,3066,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.41,50.86
$GC,379,-1.80,-487.5,1767,1950,3068,4095,50.1,-14.1,52,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,3068,3068,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.40,50.66
$STATE,409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,409,begin apogee
$GC,423,-0.45,0.0,1767,2114,3068,4095,55.1,-13.7,57,459,4.53,0.00,28.77,1.253,10244,0.053,0.000,2186,2114,2484,2484,4094,0,0,0,0,0,0,26.14,25.17,23.86,10.39,50.51
$STATE,460,end apogee,CONTROL_FINISHED_OK
$STATE,460,begin climb
$GC,467,1.80,487.5,2186,2114,2484,4094,59.0,0.0,63,508,7.55,0.00,28.30,1.233,11270,0.029,0.000,2899,2114,1915,1915,4094,0,0,0,0,0,0,25.72,25.91,23.46,10.28,50.27
$GC,545,1.80,487.5,2898,2113,1915,4094,53.3,12.3,75,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2114,1914,1914,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.15,48.77
$GC,586,1.80,487.5,2898,2114,1914,4094,47.7,13.6,81,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2113,1913,1913,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.15,48.74
$GC,628,1.80,487.5,2898,2113,1912,4094,42.1,13.1,87,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2114,1912,1912,4094,0,0,0,0,0,0,26.06,26.08,26.07,10.14,48.81
$GC,670,1.80,487.5,2898,2113,1911,4094,36.7,12.8,93,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2114,1911,1911,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.13,48.77
$GC,712,1.80,487.5,2898,2114,1909,4094,31.2,13.6,99,718,0.00,1.08,0.00,0.000,516,0.000,0.047,2899,1710,1909,1909,4094,0,0,0,0,0,0,26.25,25.77,26.26,10.13,49.76
$GC,814,1.85,516.5,2899,1709,1907,4094,19.2,10.3,115,822,0.00,1.02,3.10,0.337,9222,0.000,0.030,2899,2130,1881,1881,4094,0,0,0,0,0,0,26.06,26.03,23.80,10.16,50.55
$GC,858,1.90,551.9,2898,2130,1880,4094,14.7,10.2,121,866,0.25,0.00,3.72,0.408,10246,0.042,0.000,2935,2130,1840,1840,4094,0,0,0,0,0,0,26.18,25.10,24.00,10.18,51.65
$GC,902,1.90,551.9,2934,2130,1839,4094,9.8,11.6,127,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2130,1838,1838,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.17,52.87
$GC,944,1.90,551.9,2934,2130,1837,4095,4.3,13.2,133,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2130,1837,1837,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.19,53.22
$STATE,955,end climb,SURFACE_DEPTH_REACHED
$STATE,955,begin surface coast
$FINISH,-0.0,1.004224
$STATE,969,end surface coast,CONTROL_FINISHED_OK
$STATE,969,begin surface
$SM_CCo,1079,0.00,0.000,0,0,1836,557.23
$SM_GC,0.67,27.98,0.47,0.00,0.018,0.047,0.000,240,1950,1836,-6.55,1.23,557.23,0,0,0,0,0,0,26.22,26.10,26.25
$IRIDIUM_FIX,5957.10,-16911.74,150917,012720
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.81
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.46,84.328
$10V_AH,10.28,74.916
$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,46.600,5.525,63.900,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,368.153,260.703,163.159,199.821,158.977,0.000,323.113,0.000,208.850,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,47.430,1253.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,10849,137
$CAP_FILE_SIZE,27305,0
$CFSIZE,1024409600,904249344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,023700,5903.466,-17026.639,52,0.8,57,8.6,0.6,110.9,10,5.0