version: 66.13
glider: 401
mission: 22
dive: 2713
start: 9 12 117 2 51 2
data:
$ID,401
$MISSION,22
$DIVE,2713
$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,22
$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
$GPS1,120917,023719,5926.4624,-17046.0000,8,1.0,19,8.5,0.2,48.6,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-34.5
$GPS2,120917,025017,5926.4497,-17046.0352,5,0.9,20,8.5,0.2,158.8,10,5.0
$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,147.8,42612,-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,-487.5,238,1952,1803,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.076,0.000,729,1954,1803,1803,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.24,51.77
$GC,27,-1.80,-487.5,729,1953,1803,4094,0.4,0.0,1,57,11.02,0.00,-12.23,0.000,18438,0.045,0.000,1753,1951,3055,3055,4094,0,0,0,0,0,0,25.86,25.39,25.96,10.24,52.55
$GC,93,-1.80,-487.5,1752,1952,3055,4094,-0.2,0.2,11,99,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1952,3055,3055,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.52,51.73
$GC,135,-1.80,-487.5,1752,1952,3056,4094,4.2,-14.8,17,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1953,3056,3056,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.51,51.41
$GC,177,-1.80,-487.5,1753,1952,3057,4095,11.1,-16.3,23,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1952,3057,3057,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.52,52.00
$GC,219,-1.80,-487.5,1753,1952,3059,4094,18.6,-18.3,29,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1952,3059,3059,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.52,51.29
$GC,261,-1.80,-487.5,1753,1952,3060,4094,25.4,-15.0,35,267,0.00,1.12,0.00,0.000,260,0.000,0.045,1753,2373,3060,3060,4095,0,0,0,0,0,0,26.48,25.97,26.49,10.49,50.74
$GC,345,-1.80,-487.5,1753,2373,3062,4095,37.0,-14.0,48,352,0.00,1.08,0.00,0.000,1030,0.000,0.031,1753,1941,3062,3062,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.43,49.29
$GC,388,-1.80,-487.5,1753,1941,3063,4095,42.9,-14.1,54,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1941,3063,3063,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.42,48.66
$GC,430,-1.80,-487.5,1753,1941,3064,4095,49.1,-15.1,60,436,0.00,1.05,0.00,0.000,516,0.000,0.052,1752,1525,3064,3064,4095,0,0,0,0,0,0,26.58,26.05,26.60,10.40,47.91
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,482,-0.45,0.0,1753,2138,3066,4095,55.5,-14.6,66,518,4.68,0.00,28.73,1.259,10244,0.054,0.000,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.09,25.12,23.84,10.39,47.44
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,526,1.80,487.5,2185,2137,2484,4094,59.9,0.0,72,568,7.55,0.00,28.42,1.239,11270,0.029,0.000,2900,2138,1915,1915,4094,0,0,0,0,0,0,25.67,25.86,23.46,10.28,47.36
$GC,604,1.80,487.5,2899,2138,1914,4094,54.1,12.9,84,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2137,1914,1914,4094,0,0,0,0,0,0,25.67,25.67,25.67,10.15,46.85
$GC,646,1.80,487.5,2899,2138,1913,4094,48.5,13.1,90,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2138,1913,1913,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.14,46.22
$GC,688,1.80,487.5,2899,2137,1911,4094,42.9,13.7,96,694,0.00,1.12,0.00,0.000,516,0.000,0.045,2900,1716,1912,1912,4094,0,0,0,0,0,0,26.01,25.57,26.02,10.13,46.37
$GC,814,1.80,487.5,2899,1715,1908,4094,26.6,12.1,116,821,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2133,1908,1908,4094,0,0,0,0,0,0,25.95,25.92,25.98,10.12,47.44
$GC,857,1.80,487.5,2899,2133,1907,4094,21.6,11.9,122,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1907,1907,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.13,47.83
$GC,899,1.88,538.0,2898,2133,1905,4094,17.3,10.0,128,907,0.20,0.00,4.22,0.473,10246,0.048,0.000,2931,2133,1855,1855,4094,0,0,0,0,0,0,26.15,25.12,24.00,10.17,49.21
$GC,943,1.91,559.1,2930,2133,1854,4094,12.6,10.5,134,950,0.00,0.00,2.95,0.282,8198,0.000,0.000,2931,2133,1831,1831,4094,0,0,0,0,0,0,26.38,25.15,24.10,10.17,51.65
$GC,986,1.91,559.1,2930,2133,1829,4094,7.2,12.8,140,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2133,1829,1829,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.18,51.81
$STATE,1022,end climb,FINISH_DEPTH_REACHED
$STATE,1022,begin subsurface finish
$FINISH1,1.6,1.024337,88
$GC,1037,0.13,88.0,2931,2134,1827,4094,1.6,13.3,146,1051,5.65,0.00,-5.22,0.000,20486,0.029,0.000,2379,2142,2388,2388,4094,0,0,0,0,0,0,26.17,24.36,26.22,10.19,52.99
$FINISH2,0.0
$STATE,1052,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1052,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,120917,024237
$TT8_MAMPS,0.026215,0.160286
$HUMID,52.95
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.46,79.299
$10V_AH,10.10,70.903
$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,34.725,6.950,64.325,0.000,0.000,55.855,44.503,292.570,0.000,0.000,21.720,393.685,265.656,150.843,546.466,476.537,0.000,324.139,0.000,226.074,0.000,0.542,0.000
$DEVICE_MAMPS,75.735,52.020,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.612,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333560
$DATA_FILE_SIZE,10814,148
$CAP_FILE_SIZE,31808,0
$CFSIZE,1024409600,886161408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120917,025017,5926.450,-17046.035,5,0.9,20,8.5,0.2,158.8,10,5.0