version: 66.13
glider: 401
mission: 22
dive: 2855
start: 9 14 117 12 56 40
data:
$ID,401
$MISSION,22
$DIVE,2855
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,140917,123646,5907.0981,-17030.0586,7,0.7,14,8.6,0.0,169.1,11,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.4
$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,-487.5,2384,1937,2386,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.025,0.000,1835,1937,2386,2386,4094,0,0,0,0,0,0,26.51,28.83,28.83,10.32,52.40
$GC,27,-1.80,-487.5,1834,1937,2386,4094,0.0,0.0,1,39,0.50,0.00,-6.40,0.000,20486,0.036,0.000,1779,1937,3055,3055,4094,0,0,0,0,0,0,26.18,23.62,26.20,10.33,52.48
$GC,75,-1.80,-487.5,1778,1938,3055,4094,2.9,-10.1,8,81,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1938,3055,3055,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.47,52.36
$GC,117,-1.80,-487.5,1778,1937,3056,4095,9.1,-15.5,14,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1938,3057,3057,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.48,53.03
$GC,159,-1.80,-487.5,1778,1938,3057,4094,16.0,-16.4,20,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1938,3058,3058,4094,0,0,0,0,0,0,26.52,26.54,26.54,10.48,52.16
$GC,201,-1.80,-487.5,1778,1937,3059,4094,22.8,-16.5,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1938,3059,3059,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.47,52.40
$GC,242,-1.80,-487.5,1778,1937,3060,4094,27.9,-12.1,32,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1938,3060,3060,4095,0,0,0,0,0,0,26.57,26.59,26.58,10.43,51.77
$GC,284,-1.80,-487.5,1778,1937,3061,4095,33.3,-13.0,38,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1938,3061,3061,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.42,51.22
$GC,326,-1.80,-487.5,1778,1937,3062,4094,38.9,-13.2,44,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1938,3062,3062,4094,0,0,0,0,0,0,26.61,26.63,26.62,10.41,50.78
$GC,368,-1.80,-487.5,1778,1937,3063,4094,44.5,-13.7,50,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1937,3063,3063,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.40,50.90
$GC,409,-1.80,-487.5,1778,1937,3064,4095,50.1,-13.5,56,416,0.00,1.17,0.00,0.000,260,0.000,0.045,1779,2378,3064,3064,4094,0,0,0,0,0,0,26.65,26.12,26.66,10.40,50.35
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,460,-0.45,0.0,1778,2126,3065,4094,55.8,-13.2,62,496,4.38,0.00,28.60,1.268,10246,0.053,0.000,2185,2122,2485,2485,4095,0,0,0,0,0,0,26.14,25.16,23.85,10.39,50.15
$STATE,497,end apogee,CONTROL_FINISHED_OK
$STATE,497,begin climb
$GC,504,1.80,487.5,2185,2122,2484,4095,59.6,0.0,68,545,7.57,0.00,28.35,1.239,10246,0.029,0.000,2900,2122,1915,1915,4095,0,0,0,0,0,0,25.72,24.68,23.46,10.27,49.40
$GC,581,1.80,487.5,2899,2122,1913,4095,53.8,11.9,80,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1914,1914,4094,0,0,0,0,0,0,25.70,25.71,25.70,10.14,48.03
$GC,623,1.80,487.5,2898,2122,1913,4094,48.4,13.0,86,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2122,1913,1913,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.14,48.14
$GC,665,1.80,487.5,2898,2122,1912,4094,42.8,12.9,92,672,0.00,1.02,0.00,0.000,516,0.000,0.047,2899,1732,1912,1912,4094,0,0,0,0,0,0,26.04,25.60,26.06,10.13,48.18
$GC,786,1.80,487.5,2900,1732,1909,4094,27.6,12.4,111,792,0.00,1.00,0.00,0.000,1030,0.000,0.031,2900,2139,1908,1908,4094,0,0,0,0,0,0,25.96,25.94,26.00,10.13,49.01
$GC,828,1.80,487.5,2899,2139,1907,4094,22.1,13.0,117,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2139,1907,1907,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.13,49.33
$GC,870,1.93,574.2,2899,2139,1906,4094,17.6,9.5,123,883,0.35,0.00,6.07,0.598,10246,0.034,0.000,2942,2139,1814,1814,4094,0,0,0,0,0,0,26.16,24.76,24.10,10.15,49.60
$GC,919,1.93,574.2,2941,2138,1813,4094,12.2,11.8,130,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2139,1812,1812,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.16,51.06
$GC,961,1.93,574.2,2941,2138,1811,4095,6.9,12.9,136,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2139,1811,1811,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.17,52.59
$STATE,996,end climb,FINISH_DEPTH_REACHED
$STATE,996,begin subsurface finish
$FINISH1,1.6,1.024352,87
$GC,1011,0.13,87.0,2942,2139,1810,4094,1.6,13.0,142,1025,5.75,0.00,-5.28,0.000,20486,0.024,0.000,2382,2139,2387,2387,4094,0,0,0,0,0,0,26.15,24.37,26.20,10.18,52.75
$FINISH2,0.1
$STATE,1026,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1026,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,122928
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.34
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.46,83.386
$10V_AH,10.28,74.159
$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,24.175,4.250,63.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,375.304,213.155,143.489,209.477,147.629,0.000,308.376,0.000,218.513,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,46.665,1268.370,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.673,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333664
$DATA_FILE_SIZE,10881,144
$CAP_FILE_SIZE,25955,0
$CFSIZE,1024409600,905904128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140917,123646,5907.098,-17030.059,7,0.7,14,8.6,0.0,169.1,11,4.8