version: 66.13
glider: 401
mission: 22
dive: 2851
start: 9 14 117 11 27 17
data:
$ID,401
$MISSION,22
$DIVE,2851
$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,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
$GPS1,140917,111550,5907.5664,-17031.4160,5,0.8,24,8.6,0.2,141.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-45.2
$GPS2,140917,112638,5907.5630,-17031.2969,7,0.8,61,8.6,0.0,167.8,10,9.4
$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,145.7,74874,-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,-487.5,238,1964,1900,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.101,0.000,708,1965,1900,1900,4094,0,0,0,0,0,0,26.42,28.83,28.83,10.24,52.12
$GC,27,-1.80,-487.5,708,1964,1900,4094,0.8,0.0,1,58,11.65,1.17,-10.98,0.000,18692,0.064,1.205,1755,2361,3057,3057,4095,0,0,0,0,0,0,25.96,23.58,26.01,10.24,51.85
$GC,124,-1.80,-487.5,1754,2360,3058,4095,8.9,-17.2,16,130,0.00,1.05,0.00,0.000,1030,0.000,0.030,1754,1946,3059,3059,4095,0,0,0,0,0,0,26.04,26.01,26.07,10.49,51.57
$GC,166,-1.80,-487.5,1754,1946,3060,4095,16.6,-18.7,22,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3060,3060,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.49,51.29
$GC,208,-1.80,-487.5,1754,1946,3062,4095,23.6,-15.5,28,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3062,3062,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.47,51.73
$GC,250,-1.80,-487.5,1754,1946,3062,4094,29.5,-14.0,34,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3062,3062,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.45,50.63
$GC,292,-1.80,-487.5,1754,1946,3064,4094,35.5,-14.4,40,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3064,3064,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.43,50.03
$GC,333,-1.80,-487.5,1754,1946,3065,4094,41.7,-14.8,46,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3065,3065,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.43,49.44
$GC,375,-1.80,-487.5,1754,1946,3066,4094,48.0,-15.2,52,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3066,3066,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.41,49.76
$GC,417,-1.80,-487.5,1754,1946,3067,4094,54.1,-14.3,58,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3067,3067,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.41,48.85
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,442,-0.45,0.0,1754,2144,3068,4095,56.6,-14.6,60,483,4.68,0.00,28.88,1.272,10244,0.054,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.08,24.88,23.76,10.40,48.38
$STATE,484,end apogee,CONTROL_FINISHED_OK
$STATE,484,begin climb
$GC,491,1.80,487.5,2185,2144,2484,4094,60.8,0.0,67,532,7.60,0.00,28.50,1.253,11270,0.029,0.000,2900,2144,1916,1916,4094,0,0,0,0,0,0,25.69,25.89,23.42,10.29,48.07
$GC,568,1.80,487.5,2899,2144,1915,4094,55.1,12.7,79,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2144,1915,1915,4095,0,0,0,0,0,0,25.67,25.69,25.68,10.16,47.24
$GC,610,1.80,487.5,2900,2143,1913,4095,49.6,13.5,85,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2144,1913,1913,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.15,47.16
$GC,652,1.80,487.5,2899,2144,1912,4094,44.0,13.5,91,659,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1714,1912,1912,4094,0,0,0,0,0,0,26.03,25.59,26.05,10.15,47.75
$GC,784,1.80,487.5,2900,1713,1908,4094,26.9,13.0,112,791,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2124,1908,1908,4094,0,0,0,0,0,0,25.99,25.96,26.01,10.13,48.30
$GC,827,1.80,487.5,2900,2123,1907,4094,21.2,13.5,118,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1907,1907,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.15,48.93
$GC,869,1.80,487.5,2900,2123,1906,4094,16.4,10.8,124,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1905,1905,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.17,49.37
$GC,911,1.80,487.5,2899,2123,1905,4094,11.9,10.9,130,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1904,1904,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.18,51.77
$GC,953,1.81,489.0,2900,2123,1903,4094,7.4,10.8,136,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1903,1903,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.19,52.08
$GC,995,1.84,511.0,2900,2123,1902,4094,2.9,10.5,142,1001,0.00,0.00,2.60,0.184,8198,0.000,0.000,2900,2124,1886,1886,4094,0,0,0,0,0,0,26.51,24.93,23.87,10.20,52.00
$STATE,1006,end climb,FINISH_DEPTH_REACHED
$STATE,1006,begin subsurface finish
$FINISH1,0.8,1.024321,89
$GC,1021,0.13,89.1,2900,2123,1886,4094,0.8,11.1,144,1035,5.30,0.00,-4.57,0.000,20998,0.023,0.000,2384,2124,2386,2386,4094,0,0,0,0,0,0,26.18,24.39,26.24,10.20,52.87
$FINISH2,0.1
$STATE,1036,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1036,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,101204
$TT8_MAMPS,0.024717,0.160286
$HUMID,53.18
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.42,83.282
$10V_AH,10.09,74.074
$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,34.875,4.875,59.975,0.000,0.000,27.694,33.405,286.488,0.000,0.000,62.463,383.402,209.276,155.806,556.986,383.652,0.000,330.729,0.000,223.297,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,1204.875,1272.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.706,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333560
$DATA_FILE_SIZE,10853,146
$CAP_FILE_SIZE,31017,0
$CFSIZE,1024409600,906100736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140917,112638,5907.563,-17031.297,7,0.8,61,8.6,0.0,167.8,10,9.4