version: 66.13
glider: 401
mission: 22
dive: 2858
start: 9 14 117 14 8 41
data:
$ID,401
$MISSION,22
$DIVE,2858
$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,27
$R_STBD_OVSHOOT,43
$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
$GPS1,140917,134842,5906.3223,-17029.2520,6,0.9,20,8.6,0.5,168.6,9,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.1
$GPS2,140917,134842,5906.3223,-17029.2520,6,0.9,20,8.6,0.5,168.6,9,4.9
$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,146.4,71950,-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,-487.5,2380,1973,2387,4092,0.0,0.0,0,23,6.30,0.00,-2.10,0.000,20482,0.022,0.000,1768,1973,2609,2609,4094,0,0,0,0,0,0,26.12,28.83,26.19,10.32,53.15
$GC,31,-1.80,-487.5,1767,1973,2609,4094,0.1,0.0,1,41,0.00,1.15,-4.30,0.000,16644,0.000,1.213,1767,2362,3056,3056,4094,0,0,0,0,0,0,26.48,23.78,26.48,10.38,53.18
$GC,100,-1.80,-487.5,1767,2362,3057,4094,5.7,-13.2,10,110,0.00,1.02,0.00,0.000,1030,0.000,0.031,1768,1955,3057,3057,4094,0,0,0,0,0,0,26.10,26.08,26.14,10.47,53.58
$GC,150,-1.80,-487.5,1767,1955,3059,4094,13.9,-17.3,16,158,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1955,3059,3059,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.47,53.58
$GC,198,-1.80,-487.5,1767,1955,3060,4095,22.5,-18.0,22,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1956,3061,3061,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.45,52.83
$GC,247,-1.80,-487.5,1767,1955,3062,4095,29.3,-13.2,28,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1956,3062,3062,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.43,52.63
$GC,296,-1.80,-487.5,1767,1955,3063,4094,36.2,-13.7,34,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1956,3064,3064,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.41,51.77
$GC,345,-1.80,-487.5,1767,1955,3064,4095,43.1,-14.3,40,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1955,3064,3064,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.41,50.86
$GC,394,-1.80,-487.5,1767,1955,3066,4095,50.1,-14.2,46,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1956,3066,3066,4095,0,0,0,0,0,0,26.64,26.65,26.65,10.40,51.10
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,438,-0.45,0.0,1767,2128,3067,4095,55.4,-14.9,50,474,4.53,0.00,28.70,1.267,10244,0.054,0.000,2186,2129,2484,2484,4094,0,0,0,0,0,0,26.12,25.15,23.84,10.40,50.27
$STATE,475,end apogee,CONTROL_FINISHED_OK
$STATE,475,begin climb
$GC,482,1.80,487.5,2186,2128,2484,4094,59.7,0.0,54,526,7.62,0.00,28.42,1.241,11270,0.030,0.000,2900,2129,1916,1916,4094,0,0,0,0,0,0,25.71,25.89,23.46,10.27,49.33
$GC,568,1.80,487.5,2900,2129,1915,4094,53.6,11.9,64,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1915,1915,4094,0,0,0,0,0,0,25.75,25.76,25.75,10.14,48.03
$GC,619,1.80,487.5,2900,2128,1913,4094,47.1,12.9,70,628,0.00,1.12,0.00,0.000,516,0.000,0.047,2901,1710,1914,1914,4094,0,0,0,0,0,0,25.96,25.52,25.98,10.14,48.11
$GC,735,1.80,487.5,2900,1709,1910,4094,32.1,12.9,86,745,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2127,1910,1910,4094,0,0,0,0,0,0,25.91,25.89,25.96,10.13,48.93
$GC,787,1.80,487.5,2900,2127,1908,4094,25.3,13.3,92,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2127,1908,1908,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.12,49.72
$GC,837,1.80,487.5,2900,2127,1907,4095,19.0,11.9,98,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2128,1907,1907,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.14,50.00
$GC,888,1.91,559.0,2900,2127,1906,4094,14.2,9.7,104,899,0.28,0.00,5.25,0.535,10246,0.041,0.000,2937,2128,1831,1831,4094,0,0,0,0,0,0,26.19,25.15,24.07,10.17,50.23
$GC,940,1.91,559.0,2937,2127,1830,4094,8.2,11.9,110,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2127,1830,1830,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.17,51.41
$STATE,985,end climb,FINISH_DEPTH_REACHED
$STATE,985,begin subsurface finish
$FINISH1,1.8,1.024342,88
$GC,1000,0.13,87.7,2938,2127,1828,4094,1.8,12.5,116,1019,5.70,1.23,-5.12,0.000,20996,0.021,1.219,2380,1706,2383,2383,4095,0,0,0,0,0,0,26.16,23.73,26.22,10.18,52.36
$FINISH2,0.1
$STATE,1020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,134129
$TT8_MAMPS,0.026215,0.241927
$HUMID,52.44
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.46,83.471
$10V_AH,9.86,74.235
$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,24.425,6.550,62.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,343.283,0.000,109.689,494.385,135.804,0.000,320.693,0.000,289.362,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1219.410,1266.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,79.872,320.676,253.643,376.178,492.421,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,10857,118
$CAP_FILE_SIZE,23075,0
$CFSIZE,1024409600,905756672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140917,134842,5906.322,-17029.252,6,0.9,20,8.6,0.5,168.6,9,4.9