version: 66.13
glider: 401
mission: 22
dive: 2930
start: 9 15 117 18 9 13
data:
$ID,401
$MISSION,22
$DIVE,2930
$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,51
$R_STBD_OVSHOOT,31
$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
$GPS1,150917,175014,5857.0103,-17023.2754,10,0.8,40,8.6,4.0,314.1,9,4.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-5.3
$GPS2,150917,175014,5857.0103,-17023.2754,10,0.8,40,8.6,4.0,314.1,9,4.9
$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,144.2,53918,-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,-487.5,2378,1923,2392,4092,0.0,0.0,0,23,6.12,0.00,-2.25,0.000,20482,0.018,0.000,1759,1925,2618,2618,4094,0,0,0,0,0,0,26.25,28.83,26.30,10.33,52.79
$GC,30,-1.80,-487.5,1759,1924,2618,4094,0.0,0.0,1,41,0.00,1.10,-4.25,0.000,16900,0.000,1.226,1759,1543,3059,3059,4094,0,0,0,0,0,0,26.55,23.72,26.55,10.37,52.87
$GC,185,-1.80,-487.5,1758,1543,3064,4094,23.6,-16.3,23,194,0.00,0.95,0.00,0.000,1030,0.000,0.027,1759,1950,3064,3064,4095,0,0,0,0,0,0,26.25,26.24,26.29,10.46,52.71
$GC,235,-1.80,-487.5,1758,1950,3065,4095,31.2,-13.8,29,244,0.00,1.10,0.00,0.000,260,0.000,0.046,1759,2376,3064,3064,4094,0,0,0,0,0,0,26.60,26.08,26.61,10.44,53.34
$GC,304,-1.80,-487.5,1758,2376,3067,4094,41.0,-14.4,38,314,0.00,1.02,0.00,0.000,1030,0.000,0.030,1759,1968,3067,3067,4094,0,0,0,0,0,0,26.29,26.24,26.30,10.41,51.53
$GC,354,-1.80,-487.5,1758,1968,3068,4094,48.1,-14.5,44,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1968,3068,3068,4095,0,0,0,0,0,0,26.65,26.67,26.66,10.41,50.86
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,412,-0.45,0.0,1759,2147,3070,4094,55.1,-14.1,50,455,4.55,0.00,28.95,1.258,10244,0.054,0.000,2186,2147,2483,2483,4094,0,0,0,0,0,0,26.13,24.66,23.81,10.40,50.39
$STATE,456,end apogee,CONTROL_FINISHED_OK
$STATE,456,begin climb
$GC,462,1.80,487.5,2186,2146,2484,4094,59.6,0.0,55,507,7.43,1.10,28.27,1.240,10500,0.029,0.052,2901,2558,1919,1919,4094,0,0,0,0,0,0,25.60,25.51,23.46,10.28,50.15
$GC,541,1.80,487.5,2900,2558,1918,4094,54.4,11.8,64,551,0.00,1.08,0.00,0.000,1030,0.000,0.025,2901,2134,1917,1917,4094,0,0,0,0,0,0,25.48,25.45,25.51,10.16,48.14
$GC,591,1.80,487.5,2900,2133,1916,4094,47.7,13.6,70,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2134,1916,1916,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.14,48.58
$GC,640,1.80,487.5,2900,2133,1914,4094,41.1,13.5,76,650,0.00,1.08,0.00,0.000,516,0.000,0.047,2901,1715,1914,1914,4094,0,0,0,0,0,0,26.11,25.63,26.13,10.14,48.07
$GC,775,1.80,487.5,2900,1714,1911,4094,23.3,14.2,95,785,0.00,0.98,0.00,0.000,1030,0.000,0.027,2901,2123,1910,1910,4095,0,0,0,0,0,0,26.06,26.02,26.06,10.16,49.37
$GC,825,1.87,530.9,2900,2122,1909,4095,17.9,10.1,101,836,0.12,0.00,4.00,0.450,10246,0.067,0.000,2925,2123,1864,1864,4094,0,0,0,0,0,0,26.18,24.60,23.91,10.18,51.29
$GC,878,1.96,589.5,2924,2122,1862,4094,12.3,9.9,107,888,0.15,0.00,4.82,0.482,10246,0.055,0.000,2947,2123,1796,1796,4094,0,0,0,0,0,0,26.21,25.18,24.13,10.18,51.61
$GC,930,1.96,589.5,2947,2130,1794,4094,3.4,18.9,113,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2131,1793,1793,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.18,51.96
$STATE,946,end climb,FINISH_DEPTH_REACHED
$STATE,946,begin subsurface finish
$FINISH1,0.0,1.024403,83
$GC,961,0.13,83.4,2947,2131,1793,4094,0.0,15.7,115,980,5.55,0.00,-5.93,0.000,20998,0.024,0.000,2395,2131,2391,2391,4094,0,0,0,0,0,0,26.13,25.47,26.19,10.18,53.22
$FINISH2,-0.2
$STATE,981,end subsurface finish,CONTROL_FINISHED_OK
$STATE,981,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,150917,174149
$TT8_MAMPS,0.026215,0.252413
$HUMID,52.63
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.46,85.487
$10V_AH,9.85,75.827
$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,23.925,9.275,66.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,333.055,0.000,102.217,489.780,118.821,0.000,302.274,0.000,288.124,0.000,0.543,0.000
$DEVICE_MAMPS,66.555,1226.295,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,79.297,317.918,251.523,373.049,488.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333708
$DATA_FILE_SIZE,10811,117
$CAP_FILE_SIZE,22446,0
$CFSIZE,1024409600,902234112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,175014,5857.010,-17023.275,10,0.8,40,8.6,4.0,314.1,9,4.9