version: 66.13
glider: 401
mission: 22
dive: 2900
start: 9 15 117 6 34 2
data:
$ID,401
$MISSION,22
$DIVE,2900
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,150917,061350,5900.5044,-17025.2988,7,1.1,52,8.6,0.6,276.0,8,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-4.7
$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,-487.5,2372,1934,2386,4092,0.0,0.0,0,23,6.18,0.00,-2.25,0.000,20482,0.021,0.000,1761,1929,2623,2623,4094,0,0,0,0,0,0,26.29,28.83,26.33,10.33,53.26
$GC,30,-1.80,-487.5,1760,1928,2623,4094,0.1,0.0,1,40,0.00,1.10,-3.65,0.000,16900,0.000,1.222,1760,1530,3057,3057,4095,0,0,0,0,0,0,26.57,23.77,26.57,10.38,53.07
$GC,106,-1.80,-487.5,1760,1529,3058,4095,10.2,-17.5,11,116,0.00,0.95,0.00,0.000,1030,0.000,0.030,1760,1934,3059,3059,4095,0,0,0,0,0,0,26.22,26.17,26.25,10.47,53.62
$GC,156,-1.80,-487.5,1760,1933,3060,4095,18.9,-17.1,17,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1934,3061,3061,4095,0,0,0,0,0,0,26.56,26.57,26.58,10.48,53.26
$GC,205,-1.80,-487.5,1760,1934,3062,4095,27.4,-16.3,23,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1934,3062,3062,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.44,52.71
$GC,253,-1.80,-487.5,1760,1934,3063,4095,34.4,-14.5,29,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1934,3063,3063,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.42,52.75
$GC,302,-1.80,-487.5,1760,1934,3065,4094,41.5,-14.8,35,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1934,3065,3065,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.41,51.10
$GC,351,-1.80,-487.5,1759,1935,3065,4094,48.6,-14.4,41,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1935,3066,3066,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.41,51.33
$STATE,393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,394,begin apogee
$GC,408,-0.45,0.0,1760,2153,3068,4094,55.6,-14.5,47,451,4.60,0.00,28.85,1.267,10244,0.055,0.000,2186,2153,2483,2483,4094,0,0,0,0,0,0,26.13,24.68,23.84,10.40,50.11
$STATE,452,end apogee,CONTROL_FINISHED_OK
$STATE,452,begin climb
$GC,459,1.80,487.5,2186,2153,2484,4094,60.2,0.0,52,503,7.60,0.00,28.48,1.247,11270,0.028,0.000,2901,2153,1914,1914,4094,0,0,0,0,0,0,25.74,25.95,23.46,10.28,49.33
$GC,545,1.80,487.5,2901,2153,1914,4094,53.9,12.3,62,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2153,1913,1913,4094,0,0,0,0,0,0,25.77,25.78,25.78,10.15,48.62
$GC,596,1.80,487.5,2901,2153,1912,4094,47.1,13.5,68,606,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1724,1912,1912,4094,0,0,0,0,0,0,25.98,25.54,26.00,10.14,48.34
$GC,770,1.80,487.5,2901,1724,1907,4094,24.3,12.8,93,779,0.00,0.98,0.00,0.000,1030,0.000,0.029,2902,2125,1907,1907,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.13,48.81
$GC,820,1.80,487.5,2901,2125,1906,4094,18.6,11.2,99,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1905,1905,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.17,49.88
$GC,869,1.82,497.2,2901,2125,1905,4094,13.2,10.6,105,878,0.00,1.05,0.00,0.000,516,0.000,0.046,2901,1721,1904,1904,4095,0,0,0,0,0,0,26.46,25.95,26.47,10.18,51.10
$STATE,958,end climb,FINISH_DEPTH_REACHED
$STATE,958,begin subsurface finish
$FINISH1,1.4,1.024342,88
$GC,974,0.13,87.6,2901,2145,1901,4094,1.4,13.3,118,992,5.30,0.00,-4.53,0.000,20486,0.023,0.000,2383,2140,2388,2388,4094,0,0,0,0,0,0,26.22,25.53,26.27,10.20,53.07
$FINISH2,0.1
$STATE,993,end subsurface finish,CONTROL_FINISHED_OK
$STATE,993,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,150917,045855
$TT8_MAMPS,0.026215,0.256158
$HUMID,52.91
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.46,84.634
$10V_AH,9.85,75.168
$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,23.675,7.275,57.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,335.470,0.401,102.755,499.141,118.554,0.000,301.808,0.000,294.406,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1222.470,1266.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.468,326.148,257.924,382.821,498.383,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,10854,120
$CAP_FILE_SIZE,21371,0
$CFSIZE,1024409600,903708672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,061350,5900.504,-17025.299,7,1.1,52,8.6,0.6,276.0,8,4.0