version: 66.13
glider: 401
mission: 22
dive: 2671
start: 9 11 117 9 39 39
data:
$ID,401
$MISSION,22
$DIVE,2671
$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,14
$R_STBD_OVSHOOT,45
$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
$GPS1,110917,092531,5932.8423,-17053.7676,4,1.0,49,8.4,0.2,40.7,8,10.8
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-37.2
$GPS2,110917,093853,5932.8457,-17053.5156,9,1.0,20,8.4,0.4,134.9,10,4.8
$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,146.1,56346,-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,-487.5,238,1960,1867,4092,0.0,0.0,0,19,5.70,0.00,0.00,0.000,2049,0.094,0.000,717,1961,1867,1867,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.26,52.20
$GC,26,-1.80,-487.5,717,1960,1867,4094,0.8,0.0,1,57,11.23,1.15,-11.07,0.000,18692,0.046,1.206,1756,2354,3056,3056,4095,0,0,0,0,0,0,25.96,23.61,26.03,10.26,52.28
$GC,171,-1.80,-487.5,1755,2354,3061,4095,16.6,-18.5,23,177,0.00,1.05,0.00,0.000,1030,0.000,0.031,1756,1935,3061,3061,4095,0,0,0,0,0,0,26.04,26.00,26.08,10.52,51.33
$GC,213,-1.80,-487.5,1756,1934,3062,4095,25.1,-17.6,29,220,0.00,1.05,0.00,0.000,516,0.000,0.051,1757,1520,3062,3062,4094,0,0,0,0,0,0,26.44,25.93,26.45,10.48,51.06
$GC,298,-1.80,-487.5,1756,1520,3065,4094,37.1,-14.2,42,305,0.00,1.00,0.00,0.000,1030,0.000,0.026,1756,1948,3064,3064,4094,0,0,0,0,0,0,26.20,26.17,26.23,10.43,49.72
$GC,341,-1.80,-487.5,1756,1947,3065,4094,43.2,-14.2,48,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3066,3066,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.42,48.74
$GC,382,-1.80,-487.5,1755,1947,3066,4094,49.2,-14.5,54,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3066,3066,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.41,47.79
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,433,-0.45,0.0,1756,2136,3068,4095,55.2,-14.5,60,469,4.68,0.00,28.75,1.253,10244,0.055,0.000,2186,2136,2484,2484,4094,0,0,0,0,0,0,26.06,25.12,23.84,10.40,47.83
$STATE,470,end apogee,CONTROL_FINISHED_OK
$STATE,470,begin climb
$GC,477,1.80,487.5,2186,2136,2484,4094,59.6,0.0,66,519,7.50,1.10,28.25,1.231,10756,0.030,0.043,2903,1713,1916,1916,4094,0,0,0,0,0,0,25.53,25.48,23.48,10.28,47.24
$GC,597,1.80,487.5,2902,1713,1913,4094,48.9,13.1,84,604,0.00,1.05,0.00,0.000,1030,0.000,0.029,2903,2135,1913,1913,4095,0,0,0,0,0,0,25.58,25.54,25.60,10.14,46.45
$GC,640,1.80,487.5,2902,2134,1912,4095,42.3,13.4,90,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1912,1912,4094,0,0,0,0,0,0,26.01,26.02,26.02,10.13,46.69
$GC,682,1.80,487.5,2902,2135,1911,4094,36.8,13.0,96,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1911,1911,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.13,46.73
$GC,723,1.80,487.5,2903,2134,1909,4094,31.3,13.6,102,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1909,1909,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.12,47.44
$GC,765,1.80,487.5,2903,2135,1908,4094,25.8,13.0,108,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1908,1908,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.12,47.36
$GC,807,1.80,487.5,2902,2134,1907,4094,20.7,11.5,114,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1907,1907,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.15,48.34
$GC,849,1.86,524.0,2902,2135,1906,4094,16.4,10.2,120,857,0.00,1.12,3.45,0.381,8708,0.000,0.044,2903,1709,1872,1872,4094,0,0,0,0,0,0,26.37,25.22,23.96,10.18,49.56
$GC,959,1.89,546.2,2903,1708,1869,4094,4.8,10.4,137,967,0.17,1.05,2.92,0.249,11270,0.040,0.031,2930,2136,1844,1844,4094,0,0,0,0,0,0,26.09,26.07,24.12,10.19,52.04
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,1.7,1.024331,88
$GC,994,0.13,88.4,2930,2139,1845,4094,1.7,11.6,140,1007,5.65,0.00,-4.93,0.000,20486,0.024,0.000,2382,2139,2389,2389,4094,0,0,0,0,0,0,26.16,24.39,26.21,10.19,52.44
$FINISH2,0.1
$STATE,1009,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1009,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,110917,093052
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.99
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.48,78.076
$10V_AH,10.11,69.935
$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,34.925,9.100,63.375,0.000,0.000,61.631,48.226,306.759,0.000,0.000,21.205,381.886,264.051,139.745,566.376,463.518,0.000,302.463,0.000,217.480,0.000,0.543,0.000
$DEVICE_MAMPS,94.095,1206.405,1253.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333508
$DATA_FILE_SIZE,10797,142
$CAP_FILE_SIZE,30419,0
$CFSIZE,1024409600,888225792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,110917,093853,5932.846,-17053.516,9,1.0,20,8.4,0.4,134.9,10,4.8