version: 66.13
glider: 401
mission: 22
dive: 2486
start: 9 8 117 6 20 14
data:
$ID,401
$MISSION,22
$DIVE,2486
$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,30
$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,2
$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
$GPS1,080917,060024,5950.1680,-17138.4648,7,1.0,17,8.1,0.0,25.0,9,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-0.7
$GPS2,080917,060024,5950.1680,-17138.4648,7,1.0,17,8.1,0.0,25.0,9,4.8
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,113.5,12546,-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,6,begin dive
$GC,12,-1.80,-487.5,2382,1964,2380,4092,0.0,0.0,0,23,6.32,0.00,-2.12,0.000,20482,0.022,0.000,1758,1965,2604,2604,4095,0,0,0,0,0,0,26.25,28.83,26.29,10.34,53.74
$GC,30,-1.80,-487.5,1757,1964,2604,4095,0.1,0.0,1,40,0.00,1.20,-4.35,0.000,16644,0.000,1.225,1758,2375,3059,3059,4095,0,0,0,0,0,0,26.52,24.02,26.52,10.38,54.33
$GC,119,-1.80,-487.5,1757,2375,3062,4095,9.6,-17.2,13,128,0.00,1.02,0.00,0.000,1030,0.000,0.029,1758,1970,3061,3061,4095,0,0,0,0,0,0,26.19,26.20,26.22,10.48,53.78
$GC,169,-1.80,-487.5,1757,1969,3063,4095,18.6,-18.4,19,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1970,3063,3063,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.50,53.34
$GC,217,-1.80,-487.5,1757,1969,3064,4095,26.2,-14.1,25,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1970,3064,3064,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.45,53.11
$GC,265,-1.80,-487.5,1757,1970,3065,4095,32.5,-13.3,31,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1970,3066,3066,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.41,52.24
$GC,313,-1.80,-487.5,1757,1970,3066,4095,38.8,-13.2,37,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1970,3067,3067,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.40,50.43
$GC,360,-1.80,-487.5,1757,1970,3068,4095,45.5,-14.1,43,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1970,3068,3068,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.38,49.56
$GC,409,-1.80,-487.5,1757,1970,3069,4094,52.6,-14.9,49,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1970,3069,3069,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.38,48.81
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,438,-0.45,0.0,1758,2139,3070,4095,55.9,-15.5,51,474,4.65,0.00,28.75,1.277,10244,0.056,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.14,25.22,24.01,10.38,48.85
$STATE,475,end apogee,CONTROL_FINISHED_OK
$STATE,475,begin climb
$GC,481,1.80,487.5,2186,2139,2484,4094,60.3,0.0,55,526,7.60,0.00,28.27,1.247,11270,0.031,0.000,2900,2140,1916,1916,4094,0,0,0,0,0,0,25.67,25.88,23.62,10.25,48.34
$GC,567,1.80,487.5,2899,2139,1915,4094,54.3,11.7,65,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1915,1915,4094,0,0,0,0,0,0,25.69,25.71,25.70,10.12,47.04
$GC,617,1.80,487.5,2900,2140,1913,4094,48.1,12.4,71,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,1913,1913,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.11,46.49
$GC,667,1.80,487.5,2899,2139,1912,4094,41.9,12.8,77,677,0.00,1.15,0.00,0.000,516,0.000,0.047,2900,1706,1912,1912,4094,0,0,0,0,0,0,26.04,25.62,26.06,10.11,47.00
$GC,783,1.80,487.5,2900,1706,1908,4094,26.8,13.1,93,793,0.00,1.02,0.00,0.000,1030,0.000,0.029,2901,2125,1908,1908,4094,0,0,0,0,0,0,25.95,25.91,25.98,10.09,47.87
$GC,834,1.80,487.5,2900,2125,1907,4094,20.5,11.7,99,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1907,1907,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.14,49.48
$GC,885,1.81,489.1,2900,2125,1906,4094,15.1,10.8,105,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1906,1906,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.17,50.74
$GC,935,1.81,489.1,2900,2125,1904,4094,9.6,11.2,111,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1904,1904,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.19,52.08
$GC,985,1.81,489.1,2900,2125,1903,4094,4.1,10.9,117,994,0.00,1.12,0.00,0.000,516,0.000,0.051,2901,1704,1903,1903,4094,0,0,0,0,0,0,26.46,25.95,26.46,10.19,53.11
$STATE,1002,end climb,FINISH_DEPTH_REACHED
$STATE,1002,begin subsurface finish
$FINISH1,1.2,1.024258,93
$GC,1018,0.14,93.5,2900,2145,1903,4094,1.2,11.4,119,1036,5.28,1.25,-4.38,0.000,20996,0.023,1.219,2387,1703,2378,2378,4094,0,0,0,0,0,0,26.16,23.95,26.22,10.20,53.03
$FINISH2,0.1
$STATE,1037,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1037,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,044338
$TT8_MAMPS,0.025466,0.245672
$HUMID,53.81
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.62,72.711
$10V_AH,10.00,65.675
$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,23.850,8.725,57.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,349.784,0.000,113.802,503.117,133.667,0.000,327.584,0.000,297.467,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,1224.765,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.364,328.759,260.205,385.840,500.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,10924,121
$CAP_FILE_SIZE,24063,0
$CFSIZE,1024409600,897318912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,060024,5950.168,-17138.465,7,1.0,17,8.1,0.0,25.0,9,4.8