version: 66.13
glider: 401
mission: 22
dive: 2657
start: 9 11 117 3 48 17
data:
$ID,401
$MISSION,22
$DIVE,2657
$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,24
$R_STBD_OVSHOOT,27
$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
$GPS1,110917,032722,5933.9292,-17057.7246,5,0.8,24,8.4,0.3,254.3,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-3.3
$GPS2,110917,032722,5933.9292,-17057.7246,5,0.8,24,8.4,0.3,254.3,11,5.0
$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,143.5,59943,-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,-487.5,2396,1950,2381,4092,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.021,0.000,1839,1943,2381,2381,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.35,53.03
$GC,26,-1.80,-487.5,1839,1947,2381,4094,0.1,0.0,1,40,0.55,1.23,-6.35,0.000,20740,0.038,1.209,1780,2380,3055,3055,4095,0,0,0,0,0,0,26.14,23.89,26.18,10.34,52.32
$GC,142,-1.80,-487.5,1779,2380,3058,4095,12.1,-15.8,19,148,0.00,1.08,0.00,0.000,1030,0.000,0.028,1780,1952,3057,3057,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.49,52.91
$GC,184,-1.80,-487.5,1779,1952,3059,4094,19.2,-16.6,25,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1952,3059,3059,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.49,52.71
$GC,226,-1.80,-487.5,1779,1952,3060,4094,26.0,-15.6,31,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1952,3060,3060,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.48,52.36
$GC,268,-1.80,-487.5,1779,1952,3061,4094,31.2,-12.4,37,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1951,3061,3061,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.44,52.12
$GC,309,-1.80,-487.5,1779,1951,3062,4095,36.5,-13.1,43,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1952,3062,3062,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.43,51.29
$GC,351,-1.80,-487.5,1779,1951,3063,4095,41.9,-13.2,49,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1952,3063,3063,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.41,50.31
$GC,393,-1.80,-487.5,1779,1952,3064,4094,47.5,-13.3,55,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1952,3064,3064,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.39,49.44
$GC,435,-1.80,-487.5,1779,1951,3065,4095,52.5,-10.9,61,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1952,3065,3065,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.39,48.89
$STATE,452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,452,begin apogee
$GC,466,-0.45,0.0,1779,2146,3066,4095,55.2,-11.2,64,503,4.38,0.00,28.58,1.245,10244,0.053,0.000,2185,2146,2484,2484,4095,0,0,0,0,0,0,26.16,25.21,23.95,10.38,48.89
$STATE,504,end apogee,CONTROL_FINISHED_OK
$STATE,504,begin climb
$GC,510,1.80,487.5,2185,2146,2484,4095,58.6,0.0,70,552,7.60,0.00,28.25,1.222,11270,0.030,0.000,2900,2146,1915,1915,4094,0,0,0,0,0,0,25.70,25.91,23.56,10.26,47.91
$GC,588,1.80,487.5,2899,2146,1914,4094,52.9,12.1,82,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1914,1914,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.13,47.16
$GC,631,1.80,487.5,2899,2146,1913,4094,47.4,12.9,88,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1913,1913,4094,0,0,0,0,0,0,25.88,25.90,25.89,10.13,47.32
$GC,672,1.80,487.5,2899,2146,1912,4094,42.1,12.7,94,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1912,1912,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.12,47.48
$GC,714,1.80,487.5,2899,2146,1911,4094,36.8,12.5,100,721,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1714,1911,1911,4094,0,0,0,0,0,0,26.13,25.68,26.14,10.12,47.95
$GC,882,1.84,508.4,2900,1714,1906,4094,17.1,10.5,126,890,0.00,1.02,2.65,0.234,9222,0.000,0.029,2900,2134,1890,1890,4094,0,0,0,0,0,0,26.06,26.02,23.84,10.18,51.33
$GC,926,1.88,535.3,2900,2133,1889,4094,12.0,10.4,132,934,0.15,0.00,3.25,0.330,10246,0.057,0.000,2927,2134,1859,1859,4094,0,0,0,0,0,0,26.18,25.15,24.08,10.19,51.92
$GC,970,1.88,535.3,2926,2134,1858,4094,7.3,11.8,138,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2134,1857,1857,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.18,52.75
$GC,1011,1.88,535.3,2926,2133,1857,4094,2.4,11.4,144,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2134,1856,1856,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.19,53.15
$STATE,1022,end climb,FINISH_DEPTH_REACHED
$STATE,1022,begin subsurface finish
$FINISH1,0.1,1.024323,89
$GC,1037,0.13,89.0,2927,2134,1856,4094,0.1,12.7,146,1051,5.62,0.00,-4.78,0.000,20486,0.028,0.000,2381,2135,2387,2387,4095,0,0,0,0,0,0,26.19,24.42,26.23,10.20,53.42
$FINISH2,0.1
$STATE,1052,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1052,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,110917,031930
$TT8_MAMPS,0.025466,0.111601
$HUMID,54.09
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.56,77.668
$10V_AH,10.30,69.607
$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,23.950,5.400,62.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.977,226.778,137.255,215.210,147.525,0.000,301.716,0.000,224.445,0.000,0.542,0.000
$DEVICE_MAMPS,56.610,1209.465,1245.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.934,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333784
$DATA_FILE_SIZE,10826,148
$CAP_FILE_SIZE,25847,0
$CFSIZE,1024409600,888913920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110917,032722,5933.929,-17057.725,5,0.8,24,8.4,0.3,254.3,11,5.0