version: 66.13
glider: 401
mission: 22
dive: 2899
start: 9 15 117 6 14 29
data:
$ID,401
$MISSION,22
$DIVE,2899
$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,23
$R_STBD_OVSHOOT,28
$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
$GPS1,150917,060334,5900.5742,-17025.1641,8,1.0,24,8.6,0.0,190.5,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-29.5
$GPS2,150917,061350,5900.5044,-17025.2988,7,1.1,52,8.6,0.6,276.0,8,4.0
$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,145.3,60580,-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,-487.5,239,1956,1856,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.098,0.000,708,1953,1856,1856,4094,0,0,0,0,0,0,26.43,28.83,28.83,10.24,52.52
$GC,27,-1.80,-487.5,708,1953,1856,4094,0.8,0.0,1,57,11.40,0.00,-11.50,0.000,18950,0.050,0.000,1756,1955,3053,3053,4095,0,0,0,0,0,0,26.00,25.44,26.08,10.24,52.28
$GC,93,-1.80,-487.5,1755,1955,3053,4095,1.4,-6.2,11,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1955,3054,3054,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.50,52.75
$GC,135,-1.80,-487.5,1754,1954,3055,4094,7.2,-16.1,17,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1955,3055,3055,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.50,51.65
$GC,177,-1.80,-487.5,1755,1955,3057,4094,14.6,-17.9,23,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1955,3057,3057,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.51,51.49
$GC,218,-1.80,-487.5,1755,1955,3058,4095,22.1,-18.1,29,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1955,3058,3058,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.49,51.81
$GC,260,-1.80,-487.5,1755,1955,3059,4095,28.7,-15.0,35,267,0.00,1.12,0.00,0.000,516,0.000,0.050,1756,1515,3059,3059,4095,0,0,0,0,0,0,26.53,25.97,26.54,10.46,51.22
$GC,357,-1.80,-487.5,1755,1516,3062,4095,42.6,-14.5,50,363,0.00,1.02,0.00,0.000,1030,0.000,0.027,1756,1953,3061,3061,4094,0,0,0,0,0,0,26.27,26.24,26.28,10.43,50.11
$GC,399,-1.80,-487.5,1755,1952,3063,4094,48.8,-14.8,56,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1952,3063,3063,4095,0,0,0,0,0,0,26.61,26.62,26.62,10.42,49.64
$GC,441,-1.80,-487.5,1755,1952,3064,4095,54.8,-14.8,62,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1952,3064,3064,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.41,49.09
$STATE,452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,452,begin apogee
$GC,466,-0.45,0.0,1756,2136,3065,4095,57.3,-13.9,64,502,4.65,0.00,28.73,1.276,10244,0.054,0.000,2186,2136,2484,2484,4094,0,0,0,0,0,0,26.09,25.09,23.76,10.41,49.64
$STATE,503,end apogee,CONTROL_FINISHED_OK
$STATE,504,begin climb
$GC,510,1.80,487.5,2186,2136,2483,4094,61.1,0.0,70,552,7.60,0.00,28.33,1.251,11270,0.029,0.000,2902,2136,1916,1916,4094,0,0,0,0,0,0,25.70,25.88,23.39,10.29,48.70
$GC,588,1.80,487.5,2901,2136,1915,4094,55.2,12.3,82,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1915,1915,4094,0,0,0,0,0,0,25.70,25.70,25.70,10.17,47.95
$GC,629,1.80,487.5,2901,2136,1913,4094,49.7,13.1,88,636,0.00,1.15,0.00,0.000,516,0.000,0.046,2902,1709,1913,1913,4094,0,0,0,0,0,0,25.90,25.46,25.91,10.17,47.59
$GC,768,1.80,487.5,2901,1708,1909,4094,31.3,13.1,110,775,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2128,1909,1909,4094,0,0,0,0,0,0,25.94,25.91,25.97,10.14,48.30
$GC,811,1.80,487.5,2902,2128,1908,4094,25.7,13.1,116,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1907,1907,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.15,48.93
$GC,852,1.80,487.5,2901,2128,1907,4094,20.4,11.8,122,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2128,1906,1906,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.15,49.05
$GC,894,1.80,487.5,2901,2128,1905,4094,15.8,11.0,128,901,0.00,1.10,0.00,0.000,516,0.000,0.049,2902,1713,1905,1905,4094,0,0,0,0,0,0,26.43,25.89,26.44,10.18,50.78
$GC,1003,1.85,515.7,2901,1713,1902,4094,3.4,10.4,145,1011,0.00,0.98,2.83,0.230,9222,0.000,0.025,2902,2137,1882,1882,4094,0,0,0,0,0,0,26.24,26.22,23.89,10.21,52.40
$STATE,1016,end climb,FINISH_DEPTH_REACHED
$STATE,1016,begin subsurface finish
$FINISH1,1.3,1.024339,88
$GC,1031,0.13,87.8,2902,2136,1881,4094,1.3,10.6,147,1045,5.45,0.00,-4.38,0.000,20486,0.041,0.000,2373,2139,2386,2386,4094,0,0,0,0,0,0,26.25,24.37,26.29,10.20,52.67
$FINISH2,0.4
$STATE,1046,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1046,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,150917,045855
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.58
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.39,84.613
$10V_AH,10.08,75.141
$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,34.725,6.825,59.875,0.000,0.000,26.086,19.709,277.561,0.000,0.000,53.857,393.777,226.284,145.114,526.545,374.746,0.000,316.610,0.000,227.538,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,49.725,1276.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333540
$DATA_FILE_SIZE,10794,149
$CAP_FILE_SIZE,30267,0
$CFSIZE,1024409600,903757824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150917,061350,5900.504,-17025.299,7,1.1,52,8.6,0.6,276.0,8,4.0