version: 66.13
glider: 401
mission: 22
dive: 2853
start: 9 14 117 12 6 6
data:
$ID,401
$MISSION,22
$DIVE,2853
$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,21
$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
$GPS1,140917,112638,5907.5630,-17031.2969,7,0.8,61,8.6,0.0,167.8,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.0
$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,-487.5,2384,1943,2383,4092,0.0,0.0,0,20,5.57,0.00,0.00,0.000,4097,0.023,0.000,1835,1943,2383,2383,4094,0,0,0,0,0,0,26.51,28.83,28.83,10.32,52.99
$GC,27,-1.80,-487.5,1834,1943,2383,4094,0.1,0.0,1,40,0.65,1.30,-6.38,0.000,20740,0.033,1.215,1763,2383,3056,3056,4095,0,0,0,0,0,0,26.20,23.82,26.22,10.31,52.75
$GC,124,-1.80,-487.5,1763,2384,3058,4095,10.7,-16.5,16,131,0.00,1.08,0.00,0.000,1030,0.000,0.031,1763,1954,3058,3058,4095,0,0,0,0,0,0,26.13,26.08,26.16,10.47,53.03
$GC,167,-1.80,-487.5,1763,1954,3060,4095,18.1,-18.0,22,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3060,3060,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.47,53.85
$GC,209,-1.80,-487.5,1762,1954,3060,4095,24.9,-14.7,28,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3061,3061,4094,0,0,0,0,0,0,26.55,26.57,26.56,10.44,53.26
$GC,250,-1.80,-487.5,1762,1954,3061,4094,30.6,-13.7,34,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3062,3062,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.42,52.59
$GC,292,-1.80,-487.5,1762,1954,3063,4094,36.6,-14.2,40,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3063,3063,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.41,52.40
$GC,334,-1.80,-487.5,1762,1954,3064,4094,42.6,-14.8,46,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3064,3064,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.40,51.33
$GC,376,-1.80,-487.5,1762,1954,3065,4095,48.7,-14.9,52,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3065,3065,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.39,50.82
$GC,417,-1.80,-487.5,1763,1954,3066,4094,54.6,-14.1,58,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3066,3066,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.38,50.63
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,443,-0.45,0.0,1763,2152,3067,4094,57.1,-14.4,60,479,4.57,0.00,28.80,1.288,10244,0.054,0.000,2184,2152,2484,2484,4094,0,0,0,0,0,0,26.13,25.15,23.83,10.38,50.39
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,486,1.80,487.5,2184,2152,2484,4094,61.2,0.0,66,528,7.62,0.00,28.42,1.260,11270,0.030,0.000,2900,2151,1916,1916,4094,0,0,0,0,0,0,25.70,25.88,23.43,10.26,49.56
$GC,564,1.80,487.5,2899,2151,1915,4094,55.2,12.3,78,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1914,1914,4094,0,0,0,0,0,0,25.67,25.69,25.69,10.14,48.50
$GC,606,1.80,487.5,2899,2151,1914,4094,49.8,13.3,84,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1913,1913,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.14,49.33
$GC,648,1.80,487.5,2899,2152,1912,4094,44.3,13.3,90,654,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1717,1912,1912,4094,0,0,0,0,0,0,26.03,25.58,26.05,10.13,48.66
$GC,780,1.80,487.5,2899,1717,1908,4094,27.2,13.0,111,787,0.00,1.00,0.00,0.000,1030,0.000,0.031,2900,2125,1908,1908,4094,0,0,0,0,0,0,25.98,25.95,26.01,10.12,50.23
$GC,823,1.80,487.5,2899,2125,1907,4094,21.5,14.1,117,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1906,1906,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.13,50.27
$GC,865,1.88,538.5,2899,2125,1906,4094,16.8,10.0,123,873,0.17,0.00,4.22,0.477,10246,0.050,0.000,2928,2125,1855,1855,4094,0,0,0,0,0,0,26.17,25.08,23.96,10.15,51.18
$GC,909,1.88,538.5,2928,2125,1854,4094,11.8,11.8,129,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2125,1854,1854,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.16,51.57
$GC,950,1.88,538.5,2928,2125,1853,4094,6.8,12.0,135,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2126,1852,1852,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.17,52.36
$STATE,986,end climb,SURFACE_DEPTH_REACHED
$STATE,986,begin surface coast
$FINISH,0.4,1.024328
$STATE,999,end surface coast,CONTROL_FINISHED_OK
$STATE,999,begin surface
$SM_CCo,1110,0.00,0.000,0,0,1850,544.35
$SM_GC,1.04,28.05,0.45,0.00,0.019,0.047,0.000,238,1953,1850,-6.55,1.46,544.35,0,0,0,0,0,0,26.21,26.11,26.25
$IRIDIUM_FIX,5957.10,-16911.74,140917,101204
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.42
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.43,83.324
$10V_AH,10.27,74.114
$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,46.650,5.975,61.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,383.890,280.164,156.547,207.985,153.264,0.000,316.548,0.000,217.296,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1214.820,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333680
$DATA_FILE_SIZE,10820,143
$CAP_FILE_SIZE,26940,0
$CFSIZE,1024409600,906002432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140917,122536,5907.084,-17030.170,4,0.7,12,8.6,0.0,0.0,11,4.8