version: 66.13
glider: 401
mission: 22
dive: 2936
start: 9 15 117 20 24 0
data:
$ID,401
$MISSION,22
$DIVE,2936
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,150917,200455,5856.9512,-17025.5742,4,0.8,17,8.6,0.3,124.1,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-3.6
$GPS2,150917,200455,5856.9512,-17025.5742,4,0.8,17,8.6,0.3,124.1,10,4.6
$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,142.1,54875,-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,13,-1.80,-487.5,2380,1940,2395,4092,0.0,0.0,0,31,6.20,0.00,-6.90,0.000,20486,0.021,0.000,1759,1940,3057,3057,4095,0,0,0,0,0,0,26.20,24.20,26.25,10.33,53.26
$GC,38,-1.80,-487.5,1758,1939,3058,4095,-0.1,-2.4,2,47,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1940,3057,3057,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.46,53.03
$GC,87,-1.80,-487.5,1758,1939,3058,4094,5.7,-13.5,8,96,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1940,3059,3059,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.47,53.03
$GC,136,-1.80,-487.5,1758,1939,3060,4095,13.2,-16.5,14,146,0.00,1.10,0.00,0.000,516,0.000,0.064,1759,1521,3060,3060,4095,0,0,0,0,0,0,26.50,25.90,26.51,10.46,52.71
$GC,238,-1.80,-487.5,1758,1521,3062,4095,28.2,-14.0,28,248,0.00,1.02,0.00,0.000,1030,0.000,0.027,1758,1957,3063,3063,4094,0,0,0,0,0,0,26.26,26.23,26.28,10.44,52.87
$GC,289,-1.80,-487.5,1758,1957,3064,4094,35.0,-13.8,34,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1957,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.42,51.77
$GC,337,-1.80,-487.5,1758,1957,3066,4095,42.0,-14.1,40,346,0.00,1.10,0.00,0.000,260,0.000,0.046,1758,2379,3065,3065,4095,0,0,0,0,0,0,26.62,26.10,26.63,10.41,51.41
$GC,406,-1.80,-487.5,1758,2378,3067,4095,51.4,-13.5,49,416,0.00,1.08,0.00,0.000,1030,0.000,0.031,1758,1948,3068,3068,4095,0,0,0,0,0,0,26.27,26.22,26.34,10.40,51.10
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,430,begin apogee
$GC,444,-0.45,0.0,1758,2145,3068,4095,55.2,-13.2,52,481,4.57,0.00,28.88,1.258,10244,0.056,0.000,2185,2144,2484,2484,4095,0,0,0,0,0,0,26.11,25.15,23.83,10.39,50.27
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,488,1.80,487.5,2185,2144,2484,4095,59.4,0.0,56,532,7.47,0.00,28.10,1.229,11270,0.031,0.000,2901,2144,1921,1921,4094,0,0,0,0,0,0,25.71,25.91,23.45,10.27,49.25
$GC,574,1.80,487.5,2900,2144,1920,4094,52.7,12.6,66,583,0.00,0.00,1.05,0.003,8198,0.000,0.000,2901,2144,1920,1920,4094,0,0,0,0,0,0,25.76,25.74,25.75,10.15,48.03
$GC,625,1.80,487.5,2900,2144,1919,4094,45.6,14.1,72,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2144,1919,1919,4095,0,0,0,0,0,0,25.98,26.00,25.99,10.15,48.26
$GC,675,1.80,487.5,2900,2144,1917,4095,38.5,14.0,78,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2144,1917,1917,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.14,48.89
$GC,725,1.80,487.5,2900,2144,1915,4094,31.6,13.4,84,735,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1715,1915,1915,4094,0,0,0,0,0,0,26.24,25.75,26.25,10.14,48.89
$GC,950,1.80,487.5,2900,1715,1909,4094,2.9,14.5,116,960,0.00,1.00,0.00,0.000,1030,0.000,0.031,2900,2131,1908,1908,4094,0,0,0,0,0,0,26.15,26.13,26.20,10.19,52.95
$STATE,968,end climb,FINISH_DEPTH_REACHED
$STATE,968,begin subsurface finish
$FINISH1,-0.2,1.002661,0
$GC,983,0.00,0.0,2900,2137,1908,4094,-0.2,14.4,118,1001,5.88,0.00,-5.78,0.000,20486,0.049,0.000,2340,2131,2483,2483,4094,0,0,0,0,0,0,26.17,25.52,26.23,10.20,52.71
$FINISH2,-0.1
$STATE,1002,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1003,begin surface
$IRIDIUM_FIX,5807.44,-16912.56,150917,185040
$TT8_MAMPS,0.025466,0.246421
$HUMID,52.79
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.45,85.652
$10V_AH,9.89,75.959
$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,24.125,7.425,58.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,338.264,0.000,101.444,501.383,124.389,0.000,301.047,0.000,295.620,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,64.260,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.403,326.058,257.976,382.735,499.071,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333728
$DATA_FILE_SIZE,10846,120
$CAP_FILE_SIZE,21237,0
$CFSIZE,1024409600,901939200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,200455,5856.951,-17025.574,4,0.8,17,8.6,0.3,124.1,10,4.6