version: 66.13
glider: 401
mission: 22
dive: 2798
start: 9 13 117 14 13 48
data:
$ID,401
$MISSION,22
$DIVE,2798
$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,26
$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
$GPS1,130917,135313,5914.6738,-17032.1523,6,0.9,19,8.6,0.2,135.8,10,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-1.5
$GPS2,130917,135313,5914.6738,-17032.1523,6,0.9,19,8.6,0.2,135.8,10,5.0
$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,158.6,17652,-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,-487.5,2379,1942,2384,4092,0.0,0.0,0,23,6.28,0.00,-2.15,0.000,20482,0.021,0.000,1761,1942,2648,2648,4094,0,0,0,0,0,0,26.29,28.83,26.34,10.33,53.26
$GC,30,-1.80,-487.5,1760,1942,2648,4094,0.8,0.0,1,39,0.00,0.00,-3.00,0.000,16390,0.000,0.000,1761,1942,3055,3055,4094,0,0,0,0,0,0,26.58,25.62,26.56,10.38,52.83
$GC,79,-1.80,-487.5,1760,1943,3057,4094,6.0,-14.5,7,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1942,3057,3057,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.47,53.70
$GC,128,-1.80,-487.5,1760,1942,3058,4094,14.7,-18.4,13,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1942,3058,3058,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.48,53.34
$GC,177,-1.80,-487.5,1760,1942,3060,4094,23.1,-16.8,19,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1942,3060,3060,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.47,53.11
$GC,226,-1.80,-487.5,1760,1942,3061,4095,29.8,-14.2,25,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1942,3062,3062,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.43,52.79
$GC,275,-1.80,-487.5,1760,1942,3062,4095,36.8,-14.3,31,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1942,3063,3063,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.41,51.14
$GC,323,-1.80,-487.5,1760,1942,3064,4095,44.0,-15.2,37,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1942,3064,3064,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.40,50.82
$GC,372,-1.80,-487.5,1760,1941,3066,4095,51.2,-14.5,43,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1942,3066,3066,4095,0,0,0,0,0,0,26.65,26.67,26.66,10.40,49.88
$STATE,396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,411,-0.45,0.0,1760,2148,3066,4095,55.7,-15.1,46,447,4.60,0.00,28.83,1.278,10244,0.055,0.000,2185,2148,2484,2484,4094,0,0,0,0,0,0,26.13,25.16,23.84,10.41,49.60
$STATE,448,end apogee,CONTROL_FINISHED_OK
$STATE,448,begin climb
$GC,455,1.80,487.5,2185,2148,2484,4094,60.5,0.0,50,499,7.62,0.00,28.42,1.253,11270,0.031,0.000,2900,2149,1915,1915,4094,0,0,0,0,0,0,25.70,25.90,23.47,10.27,48.74
$GC,541,1.80,487.5,2899,2147,1914,4094,54.4,11.8,60,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1914,1914,4094,0,0,0,0,0,0,25.75,25.75,25.75,10.14,47.83
$GC,592,1.80,487.5,2898,2148,1913,4094,47.8,13.4,66,601,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.14,47.79
$GC,642,1.80,487.5,2899,2148,1912,4094,41.4,12.3,72,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2148,1911,1911,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.13,47.83
$GC,693,1.80,487.5,2899,2148,1910,4094,34.8,12.5,78,701,0.00,1.15,0.00,0.000,516,0.000,0.047,2900,1712,1910,1910,4094,0,0,0,0,0,0,26.22,25.73,26.23,10.13,48.03
$GC,910,1.80,487.5,2899,1711,1903,4094,8.1,11.6,109,920,0.00,1.00,0.00,0.000,1030,0.000,0.028,2900,2126,1904,1904,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.19,51.85
$GC,961,1.87,532.0,2899,2126,1902,4094,2.7,10.1,115,971,0.15,0.00,3.53,0.314,10246,0.057,0.000,2926,2126,1866,1866,4094,0,0,0,0,0,0,26.27,24.67,24.07,10.20,53.11
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,0.0,1.018871,471
$GC,994,0.71,471.4,2925,2133,1865,4094,0.0,10.9,117,1004,3.53,0.00,-0.68,0.000,20486,0.024,0.000,2577,2134,1941,1941,4094,0,0,0,0,0,0,26.25,25.44,26.25,10.20,53.54
$FINISH2,0.1
$STATE,1005,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1005,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,134903
$TT8_MAMPS,0.025466,0.249417
$HUMID,52.95
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.47,81.700
$10V_AH,9.91,72.870
$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,22.175,3.150,60.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,338.384,0.000,101.202,493.612,135.413,0.000,303.051,0.000,289.282,0.000,0.543,0.000
$DEVICE_MAMPS,57.375,46.665,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.026,320.692,253.624,376.331,491.641,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333672
$DATA_FILE_SIZE,10919,118
$CAP_FILE_SIZE,22055,0
$CFSIZE,1024409600,908705792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,135313,5914.674,-17032.152,6,0.9,19,8.6,0.2,135.8,10,5.0