version: 66.13
glider: 401
mission: 22
dive: 2627
start: 9 10 117 15 49 24
data:
$ID,401
$MISSION,22
$DIVE,2627
$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,28
$R_STBD_OVSHOOT,48
$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
$GPS1,100917,152902,5938.1016,-17104.3613,8,1.0,15,8.3,0.6,248.7,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.4
$GPS2,100917,152902,5938.1016,-17104.3613,8,1.0,15,8.3,0.6,248.7,11,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5905.380,-17028.039
$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,142.0,69760,-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,-487.5,2394,1981,2387,4092,0.0,0.0,0,20,5.57,0.00,0.00,0.000,4097,0.021,0.000,1842,1981,2387,2387,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.34,52.44
$GC,27,-1.80,-487.5,1841,1981,2387,4094,0.1,0.0,1,40,0.57,1.05,-6.30,0.000,20740,0.034,1.216,1778,2355,3056,3056,4095,0,0,0,0,0,0,26.17,23.89,26.20,10.33,52.12
$GC,206,-1.80,-487.5,1778,2355,3060,4095,23.9,-16.1,29,212,0.00,1.00,0.00,0.000,1030,0.000,0.030,1778,1957,3061,3061,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.49,52.95
$GC,248,-1.80,-487.5,1778,1957,3061,4095,29.5,-12.1,35,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1957,3061,3061,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.45,52.00
$GC,290,-1.80,-487.5,1778,1957,3062,4095,34.9,-12.8,41,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1957,3062,3062,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.42,51.73
$GC,332,-1.80,-487.5,1778,1957,3064,4094,40.6,-13.4,47,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1957,3064,3064,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.40,51.02
$GC,374,-1.80,-487.5,1778,1957,3064,4094,46.3,-14.2,53,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1957,3065,3065,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.39,50.51
$GC,415,-1.80,-487.5,1778,1957,3066,4095,51.7,-12.7,59,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1957,3066,3066,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.38,49.52
$STATE,439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,439,begin apogee
$GC,453,-0.45,0.0,1778,2121,3067,4095,55.7,-13.2,63,489,4.43,0.00,28.60,1.274,10244,0.054,0.000,2187,2121,2484,2484,4095,0,0,0,0,0,0,26.13,25.20,23.94,10.38,49.29
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,497,1.80,487.5,2186,2122,2484,4095,59.7,0.0,69,539,7.57,0.00,28.20,1.241,11270,0.030,0.000,2900,2122,1915,1915,4094,0,0,0,0,0,0,25.67,25.88,23.56,10.26,48.38
$GC,575,1.80,487.5,2899,2121,1915,4094,53.6,12.1,81,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1914,1914,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.13,47.59
$GC,616,1.80,487.5,2899,2121,1913,4094,48.1,12.9,87,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1912,1912,4094,0,0,0,0,0,0,25.86,25.87,25.87,10.12,47.04
$GC,658,1.80,487.5,2899,2121,1912,4094,42.4,13.5,93,665,0.00,1.10,0.00,0.000,516,0.000,0.043,2900,1708,1912,1912,4094,0,0,0,0,0,0,26.00,25.60,26.01,10.12,47.36
$GC,803,1.80,487.5,2899,1707,1907,4094,23.4,13.3,116,809,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2127,1908,1908,4094,0,0,0,0,0,0,25.98,25.95,26.01,10.13,48.46
$GC,845,1.80,487.5,2900,2127,1907,4094,18.7,10.8,122,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2127,1907,1907,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.17,50.70
$GC,887,1.81,490.0,2900,2127,1906,4094,14.1,10.7,128,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2127,1905,1905,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.18,52.28
$GC,929,1.81,490.0,2900,2127,1904,4094,9.5,11.0,134,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2127,1904,1904,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.18,52.63
$GC,971,1.82,499.0,2900,2127,1903,4094,5.0,10.6,140,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2127,1903,1903,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.19,53.26
$STATE,994,end climb,FINISH_DEPTH_REACHED
$STATE,994,begin subsurface finish
$FINISH1,1.9,1.024339,88
$GC,1009,0.13,87.9,2900,2127,1902,4094,1.9,10.4,144,1022,5.30,0.00,-4.38,0.000,20486,0.025,0.000,2383,2128,2388,2388,4094,0,0,0,0,0,0,26.18,24.42,26.23,10.20,53.85
$FINISH2,0.1
$STATE,1023,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1024,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,141143
$TT8_MAMPS,0.025466,0.108605
$HUMID,54.05
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.56,76.814
$10V_AH,10.29,68.927
$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,23.450,5.200,56.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,381.967,229.194,129.156,211.852,134.763,0.000,287.839,0.000,221.620,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1215.585,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333640
$DATA_FILE_SIZE,10772,146
$CAP_FILE_SIZE,23856,0
$CFSIZE,1024409600,890388480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,152902,5938.102,-17104.361,8,1.0,15,8.3,0.6,248.7,11,4.7