version: 66.13
glider: 401
mission: 22
dive: 2813
start: 9 13 117 20 47 34
data:
$ID,401
$MISSION,22
$DIVE,2813
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,130917,202644,5913.6187,-17036.7363,6,0.9,15,8.5,0.8,353.1,9,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-4.4
$GPS2,130917,202644,5913.6187,-17036.7363,6,0.9,15,8.5,0.8,353.1,9,4.9
$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,145.9,87261,-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,6,begin dive
$GC,13,-1.80,-487.5,2385,1952,2383,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.018,0.000,1829,1952,2383,2383,4094,0,0,0,0,0,0,26.51,28.83,28.83,10.34,52.40
$GC,27,-1.80,-487.5,1829,1952,2383,4094,0.3,0.0,1,41,0.45,1.23,-6.43,0.000,20740,0.041,1.211,1780,2380,3054,3054,4095,0,0,0,0,0,0,26.16,23.84,26.19,10.33,52.32
$GC,279,-1.80,-487.5,1779,2380,3061,4095,30.9,-12.7,41,285,0.00,1.02,0.00,0.000,1030,0.000,0.031,1779,1971,3061,3061,4094,0,0,0,0,0,0,26.23,26.20,26.27,10.43,52.28
$GC,321,-1.80,-487.5,1779,1971,3062,4094,36.5,-13.0,47,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1971,3062,3062,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.42,51.53
$GC,363,-1.80,-487.5,1779,1971,3063,4094,42.1,-13.7,53,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1971,3063,3063,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.41,50.59
$GC,405,-1.80,-487.5,1779,1971,3064,4095,47.7,-13.5,59,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1971,3064,3064,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.40,50.66
$GC,447,-1.80,-487.5,1779,1971,3065,4095,53.3,-13.4,65,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1971,3065,3065,4095,0,0,0,0,0,0,26.66,26.68,26.67,10.40,49.88
$STATE,457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,457,begin apogee
$GC,472,-0.45,0.0,1779,2149,3066,4095,55.7,-13.8,67,508,4.35,0.00,28.58,1.254,10244,0.052,0.000,2185,2149,2484,2484,4095,0,0,0,0,0,0,26.15,25.19,23.91,10.39,50.00
$STATE,509,end apogee,CONTROL_FINISHED_OK
$STATE,509,begin climb
$GC,516,1.80,487.5,2185,2149,2484,4095,59.4,0.0,73,557,7.60,0.00,28.25,1.234,11270,0.031,0.000,2900,2149,1916,1916,4094,0,0,0,0,0,0,25.72,25.91,23.50,10.27,50.07
$GC,593,1.80,487.5,2899,2149,1915,4094,53.8,11.8,85,599,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,1915,1915,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.15,48.30
$GC,635,1.80,487.5,2899,2149,1914,4094,48.3,13.4,91,642,0.00,1.17,0.00,0.000,516,0.000,0.046,2899,1712,1914,1914,4094,0,0,0,0,0,0,25.91,25.48,25.92,10.15,48.22
$GC,762,1.80,487.5,2899,1712,1909,4094,31.9,12.7,111,768,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2129,1910,1910,4094,0,0,0,0,0,0,25.92,25.89,25.95,10.13,49.05
$GC,805,1.80,487.5,2899,2129,1909,4094,26.4,13.0,117,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1908,1908,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.13,49.05
$GC,846,1.80,487.5,2899,2129,1907,4095,20.8,13.3,123,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1907,1907,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.14,49.29
$GC,888,1.82,500.8,2899,2129,1907,4094,16.3,10.6,129,895,0.00,0.00,0.77,0.003,8198,0.000,0.000,2900,2129,1906,1906,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.18,50.59
$GC,931,1.82,500.8,2899,2129,1905,4094,11.4,11.5,135,938,0.00,0.00,2.17,0.087,8198,0.000,0.000,2900,2130,1899,1899,4094,0,0,0,0,0,0,26.45,24.82,23.60,10.19,51.77
$GC,973,1.82,500.8,2899,2129,1898,4094,6.5,11.4,141,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1898,1898,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.19,52.36
$STATE,1009,end climb,FINISH_DEPTH_REACHED
$STATE,1009,begin subsurface finish
$FINISH1,1.4,1.024311,90
$GC,1024,0.13,89.8,2900,2129,1896,4094,1.4,12.6,147,1038,5.25,1.23,-4.47,0.000,20996,0.023,1.213,2384,1710,2385,2385,4094,0,0,0,0,0,0,26.17,23.75,26.24,10.20,53.81
$FINISH2,0.1
$STATE,1040,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1040,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,201811
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.34
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.50,82.236
$10V_AH,10.29,73.230
$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,23.275,6.550,59.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,389.896,240.237,125.410,216.355,130.632,0.000,284.107,0.000,225.861,0.000,0.542,0.000
$DEVICE_MAMPS,52.020,1213.290,1253.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333636
$DATA_FILE_SIZE,10856,149
$CAP_FILE_SIZE,23812,0
$CFSIZE,1024409600,907984896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,202644,5913.619,-17036.736,6,0.9,15,8.5,0.8,353.1,9,4.9