version: 66.13
glider: 401
mission: 22
dive: 2492
start: 9 8 117 8 40 49
data:
$ID,401
$MISSION,22
$DIVE,2492
$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,31
$R_STBD_OVSHOOT,35
$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,2
$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
$GPS1,080917,082110,5949.8887,-17135.3125,6,0.8,16,8.1,0.0,80.5,10,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-1.1
$GPS2,080917,082110,5949.8887,-17135.3125,6,0.8,16,8.1,0.0,80.5,10,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,119.9,9834,-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,-487.5,2381,1975,2380,4092,0.0,0.0,0,23,6.32,0.00,-2.15,0.000,20482,0.021,0.000,1761,1975,2739,2739,4094,0,0,0,0,0,0,26.22,28.83,26.27,10.34,53.78
$GC,30,-1.80,-487.5,1760,1975,2739,4094,2.5,0.0,1,39,0.00,1.15,-1.73,0.000,16644,0.000,1.223,1760,2368,3059,3059,4095,0,0,0,0,0,0,26.50,23.99,26.45,10.41,53.26
$GC,72,-1.80,-487.5,1760,2368,3060,4095,7.0,-12.4,6,81,0.00,1.05,0.00,0.000,1030,0.000,0.031,1760,1950,3060,3060,4095,0,0,0,0,0,0,26.07,26.03,26.10,10.48,53.46
$GC,121,-1.80,-487.5,1760,1950,3062,4095,15.5,-18.1,12,129,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1950,3062,3062,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.49,53.97
$GC,169,-1.80,-487.5,1760,1950,3063,4094,24.4,-18.9,18,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1951,3063,3063,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.47,53.30
$GC,217,-1.80,-487.5,1760,1950,3064,4095,31.2,-13.8,24,226,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3065,3065,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.41,52.99
$GC,265,-1.80,-487.5,1760,1950,3066,4094,37.9,-14.4,30,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3066,3066,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.39,51.53
$GC,314,-1.80,-487.5,1760,1950,3067,4095,44.8,-14.3,36,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3067,3067,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.38,50.19
$GC,363,-1.80,-487.5,1760,1950,3068,4095,51.9,-14.5,42,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1951,3067,3067,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.38,49.29
$STATE,381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,381,begin apogee
$GC,394,-0.45,0.0,1760,2136,3069,4094,55.1,-14.5,44,431,4.60,0.00,28.75,1.261,10244,0.054,0.000,2186,2136,2483,2483,4094,0,0,0,0,0,0,26.11,25.21,24.00,10.38,49.44
$STATE,432,end apogee,CONTROL_FINISHED_OK
$STATE,432,begin climb
$GC,438,1.80,487.5,2186,2136,2484,4094,59.7,0.0,48,482,7.62,0.00,28.10,1.239,11270,0.031,0.000,2901,2136,1919,1919,4094,0,0,0,0,0,0,25.65,25.85,23.63,10.24,47.87
$GC,524,1.80,487.5,2900,2136,1917,4094,53.6,12.0,58,533,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1718,1917,1917,4094,0,0,0,0,0,0,25.68,25.30,25.70,10.12,47.00
$GC,632,1.80,487.5,2901,1717,1914,4094,40.0,12.2,73,641,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2124,1914,1914,4095,0,0,0,0,0,0,25.77,25.74,25.80,10.10,46.85
$GC,682,1.80,487.5,2900,2124,1913,4095,33.7,12.5,79,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1913,1913,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.10,47.36
$GC,730,1.80,487.5,2900,2124,1911,4094,27.4,12.8,85,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1911,1911,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.09,47.48
$GC,779,1.80,487.5,2901,2124,1910,4094,21.7,11.0,91,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1910,1910,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.14,48.77
$GC,828,1.87,528.9,2901,2124,1909,4094,16.8,10.2,97,838,0.10,0.00,3.90,0.440,10246,0.074,0.000,2922,2124,1865,1865,4094,0,0,0,0,0,0,26.15,24.84,24.18,10.17,51.14
$GC,879,1.87,528.9,2921,2124,1864,4094,11.6,10.8,103,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2124,1864,1864,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.18,51.85
$GC,929,1.87,528.9,2921,2123,1863,4094,5.8,11.7,109,938,0.00,1.08,0.00,0.000,516,0.000,0.050,2922,1721,1863,1863,4094,0,0,0,0,0,0,26.41,25.93,26.42,10.19,52.40
$STATE,959,end climb,FINISH_DEPTH_REACHED
$STATE,959,begin subsurface finish
$FINISH1,1.6,1.024253,94
$GC,975,0.14,93.8,2922,2138,1861,4094,1.6,11.3,113,993,5.53,1.20,-4.72,0.000,20996,0.024,1.225,2388,1718,2377,2377,4095,0,0,0,0,0,0,26.12,23.94,26.18,10.20,53.66
$FINISH2,0.1
$STATE,994,end subsurface finish,CONTROL_FINISHED_OK
$STATE,994,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,070403
$TT8_MAMPS,0.024717,0.270389
$HUMID,53.30
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.63,72.877
$10V_AH,10.01,65.809
$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,24.175,8.550,60.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,331.882,0.370,113.628,478.050,133.561,0.000,324.983,0.000,282.498,0.000,0.543,0.000
$DEVICE_MAMPS,74.205,1224.765,1261.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,78.112,312.441,247.259,366.886,476.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10791,115
$CAP_FILE_SIZE,24083,0
$CFSIZE,1024409600,897024000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,082110,5949.889,-17135.312,6,0.8,16,8.1,0.0,80.5,10,4.7