version: 66.13
glider: 401
mission: 22
dive: 2653
start: 9 11 117 2 15 2
data:
$ID,401
$MISSION,22
$DIVE,2653
$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,57
$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
$GPS1,110917,020228,5934.6318,-17057.3574,4,0.8,39,8.4,0.3,116.6,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-40.2
$GPS2,110917,021422,5934.5811,-17057.4355,8,0.8,16,8.4,0.0,240.7,11,4.7
$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,144.3,60884,-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,-487.5,238,1942,1845,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.101,0.000,703,1940,1845,1845,4095,0,0,0,0,0,0,26.32,28.83,28.83,10.25,51.45
$GC,27,-1.80,-487.5,703,1940,1845,4095,1.0,0.0,1,57,11.20,1.20,-11.30,0.000,18692,0.038,1.213,1753,2341,3056,3056,4095,0,0,0,0,0,0,25.89,23.61,25.98,10.26,51.53
$GC,180,-1.80,-487.5,1752,2342,3060,4095,18.2,-18.2,25,187,0.00,0.98,0.00,0.000,1030,0.000,0.029,1753,1957,3060,3060,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.52,51.57
$GC,223,-1.80,-487.5,1752,1957,3061,4094,25.6,-16.4,31,230,0.00,1.12,0.00,0.000,516,0.000,0.050,1753,1515,3061,3061,4094,0,0,0,0,0,0,26.44,25.93,26.44,10.49,50.94
$GC,302,-1.80,-487.5,1752,1514,3063,4094,36.8,-14.4,43,308,0.00,0.90,0.00,0.000,1030,0.000,0.026,1753,1908,3063,3063,4095,0,0,0,0,0,0,26.20,26.19,26.23,10.43,49.80
$GC,344,-1.80,-487.5,1752,1908,3064,4095,43.1,-14.8,49,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1908,3064,3064,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.42,48.93
$GC,386,-1.80,-487.5,1753,1908,3065,4094,49.3,-14.4,55,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1908,3065,3065,4095,0,0,0,0,0,0,26.55,26.55,26.55,10.41,47.95
$STATE,421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,436,-0.45,0.0,1753,2130,3066,4094,55.3,-14.8,61,472,4.68,0.00,28.67,1.252,10244,0.055,0.000,2184,2130,2484,2484,4095,0,0,0,0,0,0,26.06,25.13,23.86,10.40,47.51
$STATE,473,end apogee,CONTROL_FINISHED_OK
$STATE,473,begin climb
$GC,480,1.80,487.5,2184,2130,2484,4095,59.4,0.0,67,522,7.65,0.00,28.33,1.229,11270,0.030,0.000,2902,2131,1915,1915,4094,0,0,0,0,0,0,25.64,25.84,23.49,10.28,47.75
$GC,558,1.80,487.5,2902,2131,1914,4094,53.3,12.6,79,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1914,1914,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.15,46.65
$GC,600,1.80,487.5,2902,2131,1913,4094,47.8,13.4,85,606,0.00,1.15,0.00,0.000,516,0.000,0.045,2903,1704,1913,1913,4094,0,0,0,0,0,0,25.85,25.44,25.86,10.14,46.14
$GC,744,1.80,487.5,2902,1704,1908,4094,29.3,12.6,108,751,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2124,1908,1908,4094,0,0,0,0,0,0,25.92,25.89,25.95,10.12,47.24
$GC,787,1.80,487.5,2902,2123,1907,4094,24.0,12.9,114,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2123,1907,1907,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.12,47.91
$GC,829,2.09,680.2,2902,2123,1906,4094,20.4,7.9,120,848,0.85,1.05,11.52,0.756,10756,0.024,0.046,2991,1707,1690,1690,4094,0,0,0,0,0,0,26.09,24.94,24.27,10.16,48.34
$GC,926,2.09,680.2,2991,1707,1688,4094,9.2,12.8,135,933,0.00,1.00,0.00,0.000,1030,0.000,0.029,2991,2118,1688,1688,4094,0,0,0,0,0,0,25.99,25.96,26.02,10.15,52.04
$GC,969,2.09,680.2,2991,2118,1686,4094,3.4,13.8,141,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2118,1685,1685,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.16,52.12
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,0.9,1.024318,89
$GC,994,0.13,89.3,2991,2118,1685,4094,0.9,14.6,143,1013,6.20,0.00,-6.22,0.000,20486,0.021,0.000,2385,2118,2383,2383,4094,0,0,0,0,0,0,26.07,25.46,26.09,10.17,52.52
$FINISH2,0.2
$STATE,1014,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1014,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,110917,005514
$TT8_MAMPS,0.025466,0.160286
$HUMID,53.42
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.49,77.561
$10V_AH,10.11,69.516
$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,36.200,9.075,68.525,0.000,0.000,24.857,21.184,333.816,0.000,0.000,18.189,383.179,222.173,146.697,532.260,443.399,0.000,312.235,0.000,223.191,0.000,0.541,0.000
$DEVICE_MAMPS,100.980,1212.525,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.351,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333512
$DATA_FILE_SIZE,10828,146
$CAP_FILE_SIZE,28944,0
$CFSIZE,1024409600,889110528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110917,021422,5934.581,-17057.436,8,0.8,16,8.4,0.0,240.7,11,4.7