version: 66.13
glider: 401
mission: 22
dive: 2854
start: 9 14 117 12 37 25
data:
$ID,401
$MISSION,22
$DIVE,2854
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,140917,122536,5907.0840,-17030.1699,4,0.7,12,8.6,0.0,0.0,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-40.8
$GPS2,140917,123646,5907.0981,-17030.0586,7,0.7,14,8.6,0.0,169.1,11,4.8
$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,146.3,73582,-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,-487.5,238,1953,1850,4092,0.0,0.0,0,23,8.57,0.00,0.00,0.000,2049,0.095,0.000,955,1946,1850,1850,4095,0,0,0,0,0,0,26.36,28.83,28.83,10.23,53.03
$GC,30,-1.80,-487.5,954,1949,1851,4095,0.9,0.0,1,57,8.65,0.00,-11.43,0.000,18438,0.044,0.000,1754,1950,3053,3053,4095,0,0,0,0,0,0,25.91,25.44,25.98,10.24,52.55
$GC,99,-1.80,-487.5,1754,1949,3054,4095,4.0,-12.2,9,106,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3054,3054,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.49,52.79
$GC,148,-1.80,-487.5,1754,1949,3056,4094,12.1,-17.3,15,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3056,3056,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.50,51.81
$GC,199,-1.80,-487.5,1754,1950,3058,4094,20.9,-17.7,21,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3058,3058,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.49,52.04
$GC,249,-1.80,-487.5,1754,1950,3059,4094,28.1,-13.1,27,258,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3059,3059,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.45,50.90
$GC,300,-1.80,-487.5,1754,1950,3060,4095,35.0,-13.9,33,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3060,3060,4095,0,0,0,0,0,0,26.52,26.54,26.54,10.43,50.86
$GC,350,-1.80,-487.5,1754,1949,3062,4095,42.5,-14.6,39,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3061,3061,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,50.35
$GC,401,-1.80,-487.5,1754,1949,3063,4095,49.8,-14.4,45,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1950,3063,3063,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.41,49.13
$STATE,430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,430,begin apogee
$GC,445,-0.45,0.0,1755,2149,3064,4094,55.1,-14.3,49,481,4.65,0.00,28.73,1.261,10246,0.054,0.000,2185,2149,2484,2484,4095,0,0,0,0,0,0,26.07,25.09,23.78,10.41,49.40
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,489,1.80,487.5,2185,2149,2484,4095,59.5,0.0,53,532,7.60,0.00,28.42,1.239,10246,0.030,0.000,2901,2149,1918,1918,4094,0,0,0,0,0,0,25.67,24.24,23.41,10.29,48.26
$GC,574,1.80,487.5,2900,2149,1917,4094,53.1,12.7,63,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2149,1917,1917,4093,0,0,0,0,0,0,25.72,25.74,25.73,10.16,47.28
$GC,625,1.80,487.5,2901,2149,1916,4093,46.3,13.8,69,634,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1716,1916,1916,4094,0,0,0,0,0,0,25.95,25.51,25.96,10.15,47.32
$GC,774,1.80,487.5,2901,1715,1911,4094,26.7,13.4,90,783,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2134,1911,1911,4094,0,0,0,0,0,0,25.96,25.91,26.00,10.14,48.50
$GC,825,1.80,487.5,2901,2134,1911,4094,19.8,13.3,96,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2134,1910,1910,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.16,49.33
$GC,876,1.80,487.5,2901,2134,1908,4094,14.4,10.9,102,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2134,1908,1908,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.19,50.59
$GC,926,1.80,487.5,2901,2133,1907,4094,8.7,11.3,108,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2134,1907,1907,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.20,51.33
$GC,977,1.80,487.5,2901,2133,1906,4094,3.1,11.0,114,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2134,1905,1905,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.20,51.61
$STATE,992,end climb,FINISH_DEPTH_REACHED
$STATE,992,begin subsurface finish
$FINISH1,0.5,1.024338,88
$GC,1007,0.13,87.9,2901,2134,1905,4094,0.5,11.3,116,1026,5.28,0.00,-4.45,0.000,20486,0.021,0.000,2385,2134,2386,2386,4094,0,0,0,0,0,0,26.20,25.50,26.25,10.21,51.77
$FINISH2,0.1
$STATE,1027,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1027,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,122928
$TT8_MAMPS,0.025466,0.251664
$HUMID,51.77
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.80
$XPDR_PINGS,0
$24V_AH,23.41,83.365
$10V_AH,9.88,74.149
$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,34.750,2.675,57.150,0.000,0.000,55.964,42.664,273.968,0.000,0.000,15.563,352.459,44.557,117.831,826.026,362.046,0.000,339.836,0.000,291.331,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,45.135,1261.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,79.613,320.712,253.643,376.195,490.681,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333544
$DATA_FILE_SIZE,10832,118
$CAP_FILE_SIZE,27444,0
$CFSIZE,1024409600,905953280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140917,123646,5907.098,-17030.059,7,0.7,14,8.6,0.0,169.1,11,4.8