version: 66.13
glider: 401
mission: 22
dive: 2894
start: 9 15 117 4 14 13
data:
$ID,401
$MISSION,22
$DIVE,2894
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,150917,035416,5902.4761,-17025.6211,6,0.7,14,8.6,0.0,218.8,12,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.4
$GPS2,150917,035416,5902.4761,-17025.6211,6,0.7,14,8.6,0.0,218.8,12,5.0
$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,146.5,64010,-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,-487.5,2383,1948,2388,4092,0.0,0.0,0,23,6.30,0.00,-2.12,0.000,20482,0.019,0.000,1760,1949,2609,2609,4094,0,0,0,0,0,0,26.27,28.83,26.32,10.33,53.81
$GC,30,-1.80,-487.5,1759,1947,2609,4094,0.2,0.0,1,39,0.00,0.00,-4.32,0.000,16390,0.000,0.000,1759,1947,3057,3057,4095,0,0,0,0,0,0,26.58,24.48,26.57,10.38,53.18
$GC,80,-1.80,-487.5,1759,1947,3057,4095,1.6,-5.9,7,88,0.00,1.15,0.00,0.000,260,0.000,0.048,1760,2371,3057,3057,4095,0,0,0,0,0,0,26.53,25.98,26.54,10.47,53.50
$GC,155,-1.80,-487.5,1759,2371,3059,4095,12.3,-16.2,17,164,0.00,1.05,0.00,0.000,1030,0.000,0.032,1760,1950,3059,3059,4095,0,0,0,0,0,0,26.20,26.19,26.23,10.47,53.34
$GC,205,-1.80,-487.5,1759,1950,3060,4095,21.2,-18.8,23,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3061,3061,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.47,52.63
$GC,254,-1.80,-487.5,1759,1950,3062,4095,29.0,-15.6,29,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1951,3062,3062,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.44,52.36
$GC,302,-1.80,-487.5,1759,1950,3063,4095,36.1,-14.8,35,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3064,3064,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.42,51.69
$GC,351,-1.80,-487.5,1759,1950,3064,4094,43.1,-14.6,41,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1950,3065,3065,4095,0,0,0,0,0,0,26.67,26.67,26.67,10.41,50.82
$GC,400,-1.80,-487.5,1759,1950,3066,4095,50.3,-14.7,47,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3066,3066,4095,0,0,0,0,0,0,26.68,26.70,26.69,10.40,50.51
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,446,-0.45,0.0,1759,2141,3067,4094,55.4,-14.0,51,489,4.57,0.00,28.65,1.266,10244,0.054,0.000,2185,2142,2487,2487,4095,0,0,0,0,0,0,26.15,24.70,23.82,10.40,49.96
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,496,1.80,487.5,2184,2141,2487,4095,60.1,0.0,56,541,7.57,0.00,28.67,1.248,11270,0.029,0.000,2901,2142,1915,1915,4094,0,0,0,0,0,0,25.76,25.97,23.46,10.28,49.72
$GC,583,1.80,487.5,2900,2142,1914,4094,53.9,12.3,66,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2142,1913,1913,4094,0,0,0,0,0,0,25.77,25.79,25.79,10.16,48.34
$GC,634,1.80,487.5,2900,2141,1912,4094,47.2,13.3,72,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1912,1912,4094,0,0,0,0,0,0,25.99,26.01,26.00,10.15,47.91
$GC,684,1.80,487.5,2900,2141,1911,4094,40.5,13.0,78,694,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1710,1911,1911,4094,0,0,0,0,0,0,26.14,25.67,26.15,10.14,48.14
$GC,780,1.80,487.5,2900,1710,1908,4094,27.8,13.1,91,788,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2122,1908,1908,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.13,48.62
$GC,829,1.80,487.5,2900,2121,1907,4094,21.6,12.4,97,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1906,1906,4094,0,0,0,0,0,0,26.38,26.40,26.39,10.15,48.93
$GC,878,1.85,517.7,2900,2121,1905,4094,16.4,10.3,103,888,0.00,0.00,3.08,0.319,8198,0.000,0.000,2901,2122,1880,1880,4094,0,0,0,0,0,0,26.43,24.51,23.82,10.19,50.00
$GC,930,1.92,562.2,2900,2121,1879,4094,11.0,10.1,109,940,0.28,0.00,4.15,0.425,10246,0.039,0.000,2939,2122,1828,1828,4094,0,0,0,0,0,0,26.21,25.13,24.08,10.19,51.29
$GC,982,1.92,562.2,2938,2122,1827,4094,5.2,11.4,115,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2122,1826,1826,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.19,52.20
$STATE,1005,end climb,FINISH_DEPTH_REACHED
$STATE,1005,begin subsurface finish
$FINISH1,1.5,1.024342,88
$GC,1020,0.13,87.6,2939,2122,1826,4094,1.5,11.7,118,1039,5.82,0.00,-5.07,0.000,20998,0.037,0.000,2380,2130,2386,2386,4095,0,0,0,0,0,0,26.21,25.52,26.25,10.19,52.20
$FINISH2,0.2
$STATE,1040,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1040,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,150917,024107
$TT8_MAMPS,0.025466,0.238182
$HUMID,52.95
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.46,84.470
$10V_AH,9.91,75.035
$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,24.550,5.300,64.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,333.537,0.000,116.751,501.642,141.928,0.000,336.531,0.000,294.373,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,48.195,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.981,326.098,257.948,382.354,497.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,10842,120
$CAP_FILE_SIZE,24189,0
$CFSIZE,1024409600,904003584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,035416,5902.476,-17025.621,6,0.7,14,8.6,0.0,218.8,12,5.0