version: 66.13
glider: 401
mission: 22
dive: 2809
start: 9 13 117 19 5 25
data:
$ID,401
$MISSION,22
$DIVE,2809
$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,63
$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,4
$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
$GPS1,130917,185516,5912.8726,-17036.3906,5,0.7,18,8.6,0.3,320.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-43.7
$GPS2,130917,190445,5912.9604,-17036.5098,7,0.8,21,8.6,1.2,315.7,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,145.6,86067,-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,-487.5,239,1931,1848,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.086,0.000,720,1930,1848,1848,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.25,52.20
$GC,27,-1.80,-487.5,719,1930,1848,4094,0.7,0.0,1,57,11.43,1.17,-11.55,0.000,19204,0.057,1.209,1755,2339,3056,3056,4095,0,0,0,0,0,0,25.97,23.58,26.05,10.25,52.16
$GC,69,-1.80,-487.5,1754,2339,3056,4095,0.3,-0.2,7,76,0.00,0.98,0.00,0.000,1030,0.000,0.029,1755,1954,3057,3057,4095,0,0,0,0,0,0,25.98,25.96,26.02,10.51,52.83
$GC,112,-1.80,-487.5,1754,1954,3058,4095,6.6,-15.7,13,118,0.00,1.05,0.00,0.000,260,0.000,0.043,1755,2345,3058,3058,4095,0,0,0,0,0,0,26.36,25.89,26.37,10.52,51.77
$GC,356,-1.80,-487.5,1754,2345,3064,4095,44.2,-14.4,52,362,0.00,0.95,0.00,0.000,1030,0.000,0.030,1755,1968,3064,3064,4094,0,0,0,0,0,0,26.24,26.21,26.26,10.43,50.51
$GC,398,-1.80,-487.5,1754,1968,3066,4094,50.4,-14.4,58,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1969,3066,3066,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.42,49.92
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,442,-0.45,0.0,1755,2113,3067,4095,55.7,-14.8,63,478,4.68,0.00,28.60,1.256,10244,0.055,0.000,2185,2112,2484,2484,4095,0,0,0,0,0,0,26.07,25.13,23.82,10.41,48.97
$STATE,480,end apogee,CONTROL_FINISHED_OK
$STATE,480,begin climb
$GC,486,1.80,487.5,2184,2112,2485,4095,59.8,0.0,69,528,7.57,0.00,28.27,1.237,11270,0.030,0.000,2899,2113,1916,1916,4094,0,0,0,0,0,0,25.67,25.87,23.45,10.29,48.26
$GC,564,1.80,487.5,2898,2112,1915,4094,53.8,13.0,81,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2113,1915,1915,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.17,47.40
$GC,606,1.80,487.5,2898,2112,1913,4094,48.3,13.3,87,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2113,1914,1914,4094,0,0,0,0,0,0,25.89,25.91,25.91,10.16,47.32
$GC,647,1.80,487.5,2898,2112,1912,4094,42.7,13.2,93,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2113,1912,1912,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.16,47.95
$GC,689,1.80,487.5,2898,2112,1911,4094,37.3,12.7,99,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2112,1911,1911,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.15,48.07
$GC,731,1.80,487.5,2898,2112,1910,4094,31.8,13.4,105,737,0.00,1.08,0.00,0.000,516,0.000,0.047,2899,1707,1910,1910,4095,0,0,0,0,0,0,26.24,25.76,26.25,10.15,47.83
$GC,810,1.97,598.5,2898,1707,1907,4095,22.8,9.1,117,823,0.47,1.02,7.43,0.692,11270,0.026,0.027,2954,2136,1785,1785,4094,0,0,0,0,0,0,26.06,26.03,24.13,10.16,49.44
$GC,860,2.13,705.8,2954,2136,1784,4094,18.2,9.2,124,873,0.45,0.00,7.38,0.649,10246,0.033,0.000,3002,2136,1661,1661,4094,0,0,0,0,0,0,26.03,25.25,24.22,10.16,50.00
$GC,909,2.24,775.3,3001,2136,1659,4094,13.3,9.7,131,922,0.28,0.00,5.43,0.528,10246,0.043,0.000,3036,2136,1579,1579,4094,0,0,0,0,0,0,26.03,24.84,24.22,10.15,51.33
$GC,958,2.24,775.3,3035,2136,1578,4094,7.2,13.1,138,964,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2136,1578,1578,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.14,52.36
$GC,999,2.24,775.3,3035,2136,1576,4094,2.3,12.2,144,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2136,1576,1576,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.15,52.36
$STATE,1010,end climb,FINISH_DEPTH_REACHED
$STATE,1010,begin subsurface finish
$FINISH1,0.2,1.024305,90
$GC,1025,0.14,90.2,3035,2138,1576,4094,0.2,12.0,146,1045,6.68,1.27,-7.22,0.000,20996,0.019,1.222,2381,1706,2383,2383,4094,0,0,0,0,0,0,26.13,23.75,26.14,10.15,53.07
$FINISH2,0.2
$STATE,1046,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1046,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,175055
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.67
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.45,82.120
$10V_AH,10.10,73.133
$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,37.175,8.075,77.100,0.000,0.000,25.047,18.104,265.392,0.000,0.000,22.845,389.823,219.101,158.229,484.090,370.429,0.000,330.701,0.000,227.555,0.000,0.542,0.000
$DEVICE_MAMPS,86.445,1221.705,1256.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333544
$DATA_FILE_SIZE,10834,149
$CAP_FILE_SIZE,30788,0
$CFSIZE,1024409600,908165120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130917,190445,5912.960,-17036.510,7,0.8,21,8.6,1.2,315.7,10,4.9