version: 66.13
glider: 401
mission: 22
dive: 2683
start: 9 11 117 14 36 16
data:
$ID,401
$MISSION,22
$DIVE,2683
$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,22
$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
$GPS1,110917,141639,5929.5386,-17052.2852,8,0.9,28,8.4,0.5,250.0,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.9
$GPS2,110917,143531,5929.4800,-17052.5859,5,0.8,25,8.4,0.3,266.3,10,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5905.380,-17028.039
$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,144.0,50374,-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,-487.5,231,1939,1868,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.098,0.000,700,1936,1868,1868,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.26,51.61
$GC,27,-1.80,-487.5,700,1936,1868,4094,0.9,0.0,1,57,11.27,1.30,-11.23,0.000,18692,0.040,1.208,1754,2380,3054,3054,4094,0,0,0,0,0,0,25.94,23.61,26.01,10.26,51.53
$GC,193,-1.80,-487.5,1754,2380,3058,4094,15.3,-18.0,27,200,0.00,1.08,0.00,0.000,1030,0.000,0.030,1754,1948,3058,3058,4095,0,0,0,0,0,0,26.05,26.01,26.08,10.52,50.78
$GC,236,-1.80,-487.5,1754,1948,3060,4095,22.9,-18.0,33,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1948,3060,3060,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.51,50.70
$GC,278,-1.80,-487.5,1754,1948,3060,4094,28.6,-13.8,39,284,0.00,1.08,0.00,0.000,516,0.000,0.050,1755,1522,3061,3061,4094,0,0,0,0,0,0,26.48,25.96,26.49,10.46,49.88
$GC,374,-1.80,-487.5,1753,1522,3063,4094,42.4,-14.7,54,381,0.00,1.00,0.00,0.000,1030,0.000,0.026,1755,1950,3063,3063,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.42,48.50
$GC,417,-1.80,-487.5,1754,1950,3064,4094,48.7,-15.0,60,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1950,3064,3064,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,47.75
$GC,459,-1.80,-487.5,1754,1950,3066,4094,54.8,-15.1,66,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3066,3066,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.40,47.67
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,484,-0.45,0.0,1754,2140,3066,4094,57.3,-14.3,68,520,4.65,0.00,28.75,1.274,10244,0.054,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.08,25.09,23.82,10.40,47.87
$STATE,521,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,528,1.80,487.5,2186,2140,2484,4094,61.4,0.0,74,570,7.55,0.00,28.40,1.252,11270,0.029,0.000,2900,2140,1915,1915,4094,0,0,0,0,0,0,25.65,25.84,23.44,10.28,46.73
$GC,606,1.80,487.5,2899,2139,1914,4094,55.6,12.5,86,612,0.00,1.12,0.00,0.000,516,0.000,0.045,2900,1723,1914,1914,4094,0,0,0,0,0,0,25.65,25.26,25.66,10.15,46.02
$GC,738,1.80,487.5,2899,1722,1911,4094,38.5,12.8,107,745,0.00,1.00,0.00,0.000,1030,0.000,0.030,2899,2127,1910,1910,4094,0,0,0,0,0,0,25.82,25.79,25.85,10.13,46.57
$GC,781,1.80,487.5,2899,2127,1909,4094,33.1,12.7,113,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2128,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.13,47.04
$GC,823,1.80,487.5,2899,2127,1908,4094,27.7,12.6,119,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2128,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.12,47.36
$GC,865,1.80,487.5,2899,2127,1907,4094,22.3,12.7,125,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2128,1907,1907,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.12,47.51
$GC,907,1.82,499.6,2899,2127,1906,4094,17.7,10.6,131,914,0.00,1.08,0.00,0.000,516,0.000,0.047,2900,1717,1905,1905,4094,0,0,0,0,0,0,26.38,25.89,26.39,10.17,49.33
$GC,1045,1.82,499.6,2899,1717,1901,4094,2.2,11.0,153,1052,0.00,0.98,0.00,0.000,1030,0.000,0.031,2900,2117,1901,1901,4094,0,0,0,0,0,0,26.16,26.13,26.18,10.20,52.75
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1057,begin subsurface finish
$FINISH1,0.3,1.024325,89
$GC,1072,0.13,88.8,2899,2117,1901,4094,0.3,10.4,155,1086,5.30,0.00,-4.43,0.000,20486,0.024,0.000,2383,2117,2386,2386,4094,0,0,0,0,0,0,26.22,24.41,26.27,10.21,53.03
$FINISH2,0.1
$STATE,1087,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1087,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,110917,142742
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.34
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.44,78.427
$10V_AH,10.10,70.212
$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,34.425,9.075,57.150,0.000,0.000,107.670,102.103,419.876,0.000,0.000,32.418,412.427,384.649,137.967,799.834,487.675,0.000,309.692,0.000,238.731,0.000,0.544,0.000
$DEVICE_MAMPS,97.920,1207.935,1274.490,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.249,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333508
$DATA_FILE_SIZE,10859,157
$CAP_FILE_SIZE,32480,0
$CFSIZE,1024409600,887635968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110917,143531,5929.480,-17052.586,5,0.8,25,8.4,0.3,266.3,10,4.7