version: 66.13
glider: 401
mission: 22
dive: 2819
start: 9 13 117 23 5 13
data:
$ID,401
$MISSION,22
$DIVE,2819
$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,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
$GPS1,130917,224446,5913.8096,-17034.9355,6,0.9,37,8.6,0.2,36.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.1
$GPS2,130917,224446,5913.8096,-17034.9355,6,0.9,37,8.6,0.2,36.1,9,5.0
$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,147.0,86845,-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,-487.5,2381,1951,2381,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,4097,0.019,0.000,1830,1952,2382,2382,4094,0,0,0,0,0,0,26.51,28.83,28.83,10.34,52.79
$GC,27,-1.80,-487.5,1830,1951,2381,4094,0.2,0.0,1,40,0.45,1.25,-6.50,0.000,20996,0.037,1.232,1780,1523,3056,3056,4095,0,0,0,0,0,0,26.19,23.46,26.22,10.34,52.87
$GC,76,-1.80,-487.5,1780,1522,3056,4095,0.2,-0.8,8,83,0.00,1.02,0.00,0.000,1030,0.000,0.024,1780,1969,3057,3057,4094,0,0,0,0,0,0,26.18,26.17,26.21,10.48,52.44
$GC,119,-1.80,-487.5,1779,1968,3058,4094,5.7,-14.6,14,125,0.00,1.17,0.00,0.000,516,0.000,0.050,1780,1519,3058,3058,4094,0,0,0,0,0,0,26.48,25.96,26.50,10.48,52.67
$GC,363,-1.80,-487.5,1779,1518,3065,4094,42.7,-13.7,53,370,0.00,0.98,0.00,0.000,1030,0.000,0.028,1780,1936,3065,3065,4095,0,0,0,0,0,0,26.32,26.29,26.34,10.41,50.86
$GC,406,-1.80,-487.5,1779,1937,3066,4095,48.5,-13.6,59,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1936,3066,3066,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.41,50.74
$GC,448,-1.80,-487.5,1779,1936,3067,4095,54.2,-13.2,65,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,1937,3067,3067,4095,0,0,0,0,0,0,26.67,26.68,26.67,10.40,50.74
$STATE,458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,458,begin apogee
$GC,473,-0.45,0.0,1779,2134,3068,4094,56.5,-13.5,67,509,4.38,0.00,28.70,1.265,10244,0.054,0.000,2186,2135,2483,2483,4095,0,0,0,0,0,0,26.14,25.18,23.89,10.40,49.60
$STATE,510,end apogee,CONTROL_FINISHED_OK
$STATE,510,begin climb
$GC,517,1.80,487.5,2186,2135,2484,4095,60.4,0.0,73,559,7.50,1.12,28.33,1.243,10756,0.029,0.043,2903,1706,1916,1916,4094,0,0,0,0,0,0,25.60,25.55,23.49,10.27,49.80
$GC,652,1.80,487.5,2902,1705,1913,4094,47.5,12.8,94,659,0.00,1.08,0.00,0.000,1030,0.000,0.031,2903,2134,1913,1913,4095,0,0,0,0,0,0,25.65,25.63,25.68,10.15,48.07
$GC,695,1.80,487.5,2903,2134,1912,4095,42.2,12.6,100,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1912,1912,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.14,48.58
$GC,737,1.80,487.5,2902,2134,1911,4094,36.7,12.9,106,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1911,1911,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.13,48.93
$GC,779,1.80,487.5,2903,2134,1909,4094,31.2,12.9,112,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1909,1909,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.13,49.52
$GC,821,1.80,487.5,2902,2134,1907,4094,25.6,13.4,118,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1908,1908,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.13,48.89
$GC,863,1.80,487.5,2903,2134,1907,4094,20.5,11.3,124,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2135,1906,1906,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.16,50.07
$GC,905,1.83,503.2,2902,2134,1906,4094,16.0,10.5,130,911,0.00,0.00,2.35,0.148,8198,0.000,0.000,2903,2134,1896,1896,4094,0,0,0,0,0,0,26.42,24.88,23.69,10.18,50.55
$GC,947,1.83,503.2,2902,2134,1895,4094,11.3,10.9,136,954,0.00,1.12,0.00,0.000,516,0.000,0.047,2903,1709,1895,1895,4094,0,0,0,0,0,0,26.45,25.94,26.46,10.19,52.28
$STATE,1031,end climb,FINISH_DEPTH_REACHED
$STATE,1032,begin subsurface finish
$FINISH1,1.6,1.024293,91
$GC,1048,0.14,91.0,2903,2159,1892,4094,1.6,10.6,150,1061,5.30,0.00,-4.47,0.000,20486,0.023,0.000,2383,2163,2383,2383,4095,0,0,0,0,0,0,26.22,24.41,26.27,10.21,53.03
$FINISH2,0.1
$STATE,1062,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1063,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,213029
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.26
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.46,82.398
$10V_AH,10.29,73.363
$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,23.275,9.850,59.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,398.221,244.272,126.261,220.884,136.113,0.000,286.720,0.000,229.940,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1231.650,1265.310,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.694,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,10810,152
$CAP_FILE_SIZE,24606,0
$CFSIZE,1024409600,907673600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,224446,5913.810,-17034.936,6,0.9,37,8.6,0.2,36.1,9,5.0