version: 66.13
glider: 401
mission: 22
dive: 2647
start: 9 10 117 23 50 58
data:
$ID,401
$MISSION,22
$DIVE,2647
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,100917,233336,5936.4150,-17057.7734,7,1.0,31,8.4,0.0,183.1,9,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-39.5
$GPS2,100917,235019,5936.3320,-17057.6445,8,0.7,18,8.4,0.0,156.5,11,4.9
$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,145.4,63869,-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,-487.5,238,1967,1888,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.098,0.000,706,1963,1888,1888,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,51.14
$GC,27,-1.80,-487.5,705,1966,1888,4094,0.8,0.0,1,57,11.23,1.20,-10.88,0.000,18692,0.041,1.206,1755,2373,3056,3056,4094,0,0,0,0,0,0,25.95,23.58,26.01,10.27,51.45
$GC,217,-1.80,-487.5,1755,2373,3059,4094,19.4,-17.6,31,224,0.00,1.05,0.00,0.000,1030,0.000,0.028,1755,1952,3060,3060,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.53,50.59
$GC,260,-1.80,-487.5,1754,1952,3061,4094,26.2,-14.6,37,266,0.00,1.08,0.00,0.000,516,0.000,0.049,1755,1526,3061,3061,4094,0,0,0,0,0,0,26.45,25.95,26.46,10.49,50.59
$GC,344,-1.80,-487.5,1754,1525,3063,4094,38.5,-14.8,50,351,0.00,0.98,0.00,0.000,1030,0.000,0.026,1755,1944,3063,3063,4095,0,0,0,0,0,0,26.22,26.19,26.24,10.43,49.05
$GC,387,-1.80,-487.5,1754,1944,3064,4095,44.8,-15.3,56,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1944,3064,3064,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.42,47.99
$GC,429,-1.80,-487.5,1754,1944,3066,4094,51.2,-15.1,62,435,0.00,1.10,0.00,0.000,260,0.000,0.047,1755,2364,3065,3065,4095,0,0,0,0,0,0,26.56,26.05,26.57,10.41,48.26
$STATE,453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,453,begin apogee
$GC,467,-0.45,0.0,1755,2110,3066,4094,55.9,-15.1,66,504,4.65,0.00,28.67,1.262,10244,0.054,0.000,2186,2106,2484,2484,4094,0,0,0,0,0,0,26.06,25.12,23.84,10.40,47.36
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,511,1.80,487.5,2186,2105,2484,4094,60.3,0.0,72,553,7.60,0.00,28.25,1.242,11270,0.031,0.000,2901,2106,1916,1916,4094,0,0,0,0,0,0,25.65,25.84,23.48,10.28,46.61
$GC,589,1.80,487.5,2901,2105,1915,4094,54.4,12.2,84,596,0.00,0.95,0.00,0.000,516,0.000,0.045,2902,1742,1914,1914,4094,0,0,0,0,0,0,25.65,25.27,25.65,10.15,45.82
$GC,704,1.80,487.5,2901,1741,1911,4094,40.1,12.2,102,710,0.00,0.95,0.00,0.000,1030,0.000,0.029,2901,2129,1911,1911,4094,0,0,0,0,0,0,25.78,25.75,25.81,10.13,46.29
$GC,746,1.80,487.5,2901,2129,1910,4094,34.6,12.9,108,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1910,1910,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.13,46.65
$GC,788,1.80,487.5,2901,2129,1908,4094,29.2,13.0,114,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1908,1908,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.12,47.79
$GC,830,1.80,487.5,2901,2129,1908,4094,24.1,12.4,120,836,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1908,1908,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.14,47.95
$GC,872,1.89,548.3,2901,2129,1907,4094,19.9,9.9,126,886,0.22,1.00,4.70,0.533,10756,0.044,0.044,2935,1743,1844,1844,4094,0,0,0,0,0,0,26.13,25.30,24.08,10.18,49.17
$GC,993,1.89,548.3,2934,1742,1841,4094,6.2,12.4,144,1000,0.00,0.95,0.00,0.000,1030,0.000,0.028,2935,2137,1841,1841,4094,0,0,0,0,0,0,26.15,26.08,26.14,10.20,52.28
$STATE,1017,end climb,FINISH_DEPTH_REACHED
$STATE,1017,begin subsurface finish
$FINISH1,1.7,1.024322,89
$GC,1032,0.13,89.1,2935,2137,1839,4094,1.7,12.5,148,1046,5.68,0.00,-4.88,0.000,20486,0.022,0.000,2385,2138,2385,2385,4094,0,0,0,0,0,0,26.12,24.39,26.18,10.21,52.44
$FINISH2,0.2
$STATE,1047,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,234200
$TT8_MAMPS,0.025466,0.162533
$HUMID,53.22
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.48,77.387
$10V_AH,10.11,69.380
$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,35.000,9.825,61.625,0.000,0.000,102.756,89.828,337.541,0.000,0.000,19.582,396.455,371.231,138.963,686.605,454.737,0.000,305.151,0.000,228.850,0.000,0.544,0.000
$DEVICE_MAMPS,97.920,1205.640,1262.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.318,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10819,150
$CAP_FILE_SIZE,31028,0
$CFSIZE,1024409600,889405440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100917,235019,5936.332,-17057.645,8,0.7,18,8.4,0.0,156.5,11,4.9