version: 66.13
glider: 401
mission: 22
dive: 2764
start: 9 13 117 1 8 56
data:
$ID,401
$MISSION,22
$DIVE,2764
$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,28
$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
$GPS1,130917,005352,5921.4976,-17034.8457,2,0.9,13,8.6,0.0,162.2,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-43.4
$GPS2,130917,010817,5921.4404,-17034.6797,10,0.9,18,8.6,0.7,156.5,10,4.8
$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,159.4,30408,-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,-487.5,231,1975,1902,4092,0.0,0.0,0,23,8.52,0.00,0.00,0.000,2049,0.099,0.000,939,1974,1902,1902,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.29,51.89
$GC,30,-1.80,-487.5,938,1974,1902,4094,0.7,0.0,1,57,8.75,1.17,-11.10,0.000,18692,0.042,1.196,1754,2380,3055,3055,4095,0,0,0,0,0,0,25.94,23.63,25.98,10.29,51.92
$GC,117,-1.80,-487.5,1753,2380,3056,4095,7.5,-16.2,12,127,0.00,1.08,0.00,0.000,1030,0.000,0.029,1754,1952,3057,3057,4094,0,0,0,0,0,0,26.00,25.96,26.04,10.54,51.73
$GC,167,-1.80,-487.5,1753,1952,3058,4094,16.5,-18.7,18,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3059,3059,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.54,51.57
$GC,216,-1.80,-487.5,1753,1952,3060,4094,25.2,-17.3,24,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3060,3060,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.52,51.81
$GC,265,-1.80,-487.5,1753,1952,3061,4094,32.4,-14.8,30,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3061,3061,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.48,50.39
$GC,314,-1.80,-487.5,1753,1952,3062,4095,39.8,-14.6,36,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3063,3063,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.46,49.72
$GC,363,-1.80,-487.5,1753,1951,3064,4095,47.3,-15.0,42,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3065,3065,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.45,48.42
$GC,412,-1.80,-487.5,1753,1952,3065,4094,54.8,-15.5,48,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1952,3066,3066,4094,0,0,0,0,0,0,26.61,26.62,26.62,10.44,47.87
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,443,-0.45,0.0,1754,2145,3066,4094,58.1,-14.8,50,486,4.68,0.00,28.73,1.271,10244,0.055,0.000,2186,2146,2484,2484,4094,0,0,0,0,0,0,26.08,24.70,23.85,10.43,47.67
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2185,2145,2484,4094,62.5,0.0,55,538,7.60,0.00,28.38,1.253,11270,0.031,0.000,2902,2145,1917,1917,4095,0,0,0,0,0,0,25.71,25.92,23.50,10.31,46.81
$GC,580,1.80,487.5,2901,2145,1916,4095,56.7,12.0,65,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2146,1916,1916,4095,0,0,0,0,0,0,25.78,25.79,25.79,10.18,46.22
$GC,631,1.80,487.5,2901,2145,1914,4095,49.9,13.7,71,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1914,1914,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.17,46.33
$GC,681,1.80,487.5,2901,2145,1913,4094,43.1,13.5,77,698,0.00,1.12,0.00,0.000,516,0.000,0.047,2901,1714,1912,1912,4094,0,0,0,0,0,0,26.15,25.68,26.16,10.17,46.57
$GC,817,1.80,487.5,2901,1714,1908,4094,25.2,12.9,95,826,0.00,1.00,0.00,0.000,1030,0.000,0.031,2902,2125,1908,1908,4094,0,0,0,0,0,0,26.06,26.02,26.08,10.16,47.36
$GC,867,1.80,487.5,2901,2124,1907,4094,19.5,11.1,101,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1907,1907,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.20,48.58
$GC,916,1.80,487.5,2900,2124,1906,4094,14.1,11.0,107,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1906,1906,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.22,50.82
$GC,964,1.80,487.5,2901,2124,1905,4094,8.6,11.2,113,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1904,1904,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.23,51.53
$GC,1013,1.80,487.5,2901,2124,1903,4094,3.0,11.7,119,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1903,1903,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.24,52.52
$STATE,1029,end climb,FINISH_DEPTH_REACHED
$STATE,1029,begin subsurface finish
$FINISH1,0.2,1.024282,92
$GC,1044,0.14,91.9,2901,2124,1902,4095,0.2,12.1,121,1063,5.28,1.20,-4.45,0.000,20996,0.023,1.216,2380,1715,2380,2380,4094,0,0,0,0,0,0,26.29,23.81,26.33,10.24,52.63
$FINISH2,0.2
$STATE,1064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1064,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,005837
$TT8_MAMPS,0.025466,0.256907
$HUMID,52.63
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.50,80.767
$10V_AH,9.93,72.120
$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,34.825,6.075,57.100,0.000,0.000,48.331,63.590,392.326,0.000,0.000,19.730,349.291,45.214,126.573,960.813,454.006,0.000,368.103,0.000,303.711,0.000,0.543,0.000
$DEVICE_MAMPS,98.685,1215.585,1270.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.820,334.199,264.463,392.323,511.516,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333528
$DATA_FILE_SIZE,10805,123
$CAP_FILE_SIZE,30322,0
$CFSIZE,1024409600,910376960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,681.55,0x236164,1,24
$GPS,130917,010817,5921.440,-17034.680,10,0.9,18,8.6,0.7,156.5,10,4.8