version: 66.13
glider: 401
mission: 22
dive: 2863
start: 9 14 117 16 8 3
data:
$ID,401
$MISSION,22
$DIVE,2863
$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,29
$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
$GPS1,140917,155801,5904.6133,-17029.2910,5,0.8,30,8.6,0.4,15.8,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-33.0
$GPS2,140917,160723,5904.5610,-17029.4277,7,0.8,13,8.6,0.0,222.6,11,5.0
$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,145.1,69084,-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,-487.5,230,1967,1815,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.083,0.000,713,1967,1815,1815,4094,0,0,0,0,0,0,26.37,28.83,28.83,10.22,53.26
$GC,27,-1.80,-487.5,713,1968,1815,4094,0.8,0.0,1,57,11.10,0.00,-11.68,0.000,18694,0.040,0.000,1757,1968,3054,3054,4094,0,0,0,0,0,0,26.01,25.39,26.07,10.22,52.52
$GC,93,-1.80,-487.5,1756,1968,3055,4094,4.0,-13.7,11,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3055,3055,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.49,52.52
$GC,134,-1.80,-487.5,1756,1968,3056,4094,11.0,-16.7,17,140,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3057,3057,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.50,52.24
$GC,176,-1.80,-487.5,1756,1968,3058,4094,18.1,-16.9,23,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3058,3058,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.49,52.16
$GC,218,-1.80,-487.5,1756,1968,3059,4095,25.2,-16.6,29,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3060,3060,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.46,51.29
$GC,260,-1.80,-487.5,1756,1968,3061,4094,31.0,-13.4,35,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3061,3061,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.44,51.22
$GC,301,-1.80,-487.5,1756,1968,3062,4094,36.9,-14.1,41,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3062,3062,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,50.51
$GC,343,-1.80,-487.5,1756,1968,3063,4095,42.8,-13.9,47,349,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3062,3062,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,50.11
$GC,385,-1.80,-487.5,1756,1968,3063,4095,48.9,-14.6,53,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1968,3064,3064,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.41,49.37
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,421,begin apogee
$GC,435,-0.45,0.0,1757,2141,3065,4095,55.2,-15.5,59,472,4.62,0.00,28.75,1.259,10246,0.053,0.000,2185,2142,2484,2484,4095,0,0,0,0,0,0,26.06,25.08,23.75,10.41,49.68
$STATE,473,end apogee,CONTROL_FINISHED_OK
$STATE,473,begin climb
$GC,479,1.80,487.5,2184,2141,2484,4095,59.3,0.0,65,521,7.55,0.00,28.40,1.234,10246,0.028,0.000,2900,2141,1915,1915,4094,0,0,0,0,0,0,25.66,24.63,23.39,10.29,48.62
$GC,557,1.80,487.5,2900,2141,1915,4094,53.3,12.3,77,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1915,1915,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.16,47.75
$GC,598,1.80,487.5,2900,2141,1914,4094,47.9,12.8,83,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1913,1913,4094,0,0,0,0,0,0,25.89,25.90,25.89,10.15,47.67
$GC,640,1.80,487.5,2900,2141,1912,4094,42.5,12.8,89,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2142,1912,1912,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.15,48.18
$GC,682,1.80,487.5,2900,2141,1911,4094,37.0,13.5,95,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1911,1911,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.14,48.38
$GC,724,1.80,487.5,2900,2141,1910,4094,31.5,12.7,101,730,0.00,1.12,0.00,0.000,516,0.000,0.046,2900,1714,1910,1910,4094,0,0,0,0,0,0,26.23,25.75,26.24,10.14,48.38
$GC,898,1.83,502.0,2900,1713,1905,4094,12.2,10.6,128,906,0.00,1.02,2.22,0.103,9222,0.000,0.029,2901,2135,1897,1897,4094,0,0,0,0,0,0,26.10,26.08,23.62,10.19,51.45
$GC,942,1.83,502.0,2900,2135,1896,4094,6.6,11.5,134,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1896,1896,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.19,51.77
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,1.6,1.024350,87
$GC,992,0.13,87.1,2900,2135,1895,4094,1.6,11.6,140,1006,5.25,0.00,-4.32,0.000,20486,0.019,0.000,2377,2135,2389,2389,4094,0,0,0,0,0,0,26.25,24.38,26.29,10.20,52.55
$FINISH2,0.4
$STATE,1007,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1007,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,140917,145358
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.59
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.39,83.612
$10V_AH,10.07,74.338
$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,34.150,2.575,59.375,0.000,0.000,25.119,23.403,260.764,0.000,0.000,14.682,374.145,211.638,145.204,465.427,378.396,0.000,311.905,0.000,217.404,0.000,0.544,0.000
$DEVICE_MAMPS,83.385,45.900,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.265,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333548
$DATA_FILE_SIZE,10782,142
$CAP_FILE_SIZE,28897,0
$CFSIZE,1024409600,905510912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140917,160723,5904.561,-17029.428,7,0.8,13,8.6,0.0,222.6,11,5.0