version: 66.13
glider: 401
mission: 22
dive: 2771
start: 9 13 117 3 47 45
data:
$ID,401
$MISSION,22
$DIVE,2771
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,130917,032644,5919.5107,-17034.0605,10,0.8,14,8.6,0.6,285.4,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-3.1
$GPS2,130917,032644,5919.5107,-17034.0605,10,0.8,14,8.6,0.6,285.4,11,4.5
$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,159.1,26790,-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,-487.5,2383,1954,2380,4092,0.0,0.0,0,26,6.30,0.00,-4.80,0.000,20482,0.020,0.000,1762,1954,2881,2881,4095,0,0,0,0,0,0,26.25,28.83,26.27,10.34,53.38
$GC,33,-1.80,-487.5,1761,1954,2881,4095,0.1,-4.0,2,40,0.00,0.00,-1.48,0.000,16390,0.000,0.000,1761,1954,3057,3057,4094,0,0,0,0,0,0,26.53,24.45,26.48,10.44,53.03
$GC,76,-1.80,-487.5,1761,1954,3058,4094,4.7,-13.0,8,82,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3058,3058,4095,0,0,0,0,0,0,26.48,26.51,26.50,10.48,53.46
$GC,117,-1.80,-487.5,1761,1954,3059,4095,11.7,-17.3,14,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3060,3060,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.49,53.03
$GC,159,-1.80,-487.5,1761,1954,3061,4094,19.1,-18.2,20,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3061,3061,4094,0,0,0,0,0,0,26.54,26.55,26.56,10.49,53.46
$GC,201,-1.80,-487.5,1760,1954,3062,4094,26.3,-16.5,26,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3062,3062,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.47,52.95
$GC,243,-1.80,-487.5,1761,1954,3063,4094,31.8,-12.8,32,249,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3063,3063,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.44,52.52
$GC,284,-1.80,-487.5,1761,1954,3064,4094,37.4,-13.6,38,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3064,3064,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.42,51.41
$GC,326,-1.80,-487.5,1760,1954,3065,4095,42.8,-13.3,44,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3065,3065,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.41,51.18
$GC,368,-1.80,-487.5,1761,1954,3066,4094,48.7,-14.6,50,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3066,3066,4094,0,0,0,0,0,0,26.65,26.67,26.66,10.41,50.35
$GC,410,-1.80,-487.5,1760,1954,3068,4094,54.7,-14.2,56,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1954,3068,3068,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.40,49.96
$STATE,420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,435,-0.45,0.0,1761,2146,3068,4094,57.2,-14.6,58,471,4.57,0.00,28.67,1.291,10246,0.056,0.000,2184,2146,2484,2484,4095,0,0,0,0,0,0,26.14,25.19,23.89,10.40,50.27
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,479,1.80,487.5,2184,2146,2484,4095,61.1,0.0,64,520,7.55,0.00,28.27,1.261,10246,0.031,0.000,2900,2146,1916,1916,4094,0,0,0,0,0,0,25.71,24.70,23.50,10.28,49.44
$GC,556,1.80,487.5,2899,2146,1915,4094,55.8,12.1,76,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1914,1914,4095,0,0,0,0,0,0,25.70,25.72,25.71,10.14,48.46
$GC,598,1.80,487.5,2899,2145,1913,4095,50.4,13.0,82,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1913,1913,4094,0,0,0,0,0,0,25.91,25.92,25.91,10.15,48.22
$GC,640,1.80,487.5,2899,2145,1912,4094,45.2,12.3,88,646,0.00,1.17,0.00,0.000,516,0.000,0.047,2900,1708,1912,1912,4094,0,0,0,0,0,0,26.05,25.59,26.06,10.14,48.70
$GC,784,1.80,487.5,2899,1707,1908,4094,26.9,12.7,111,791,0.00,1.05,0.00,0.000,1030,0.000,0.031,2900,2134,1907,1907,4094,0,0,0,0,0,0,26.00,25.97,26.03,10.12,49.60
$GC,827,1.80,487.5,2899,2134,1907,4094,21.8,11.5,117,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2134,1906,1906,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.15,50.15
$GC,869,1.87,529.7,2899,2134,1906,4094,17.5,10.1,123,877,0.12,0.00,3.72,0.421,10246,0.066,0.000,2923,2135,1866,1866,4094,0,0,0,0,0,0,26.20,25.11,23.99,10.17,51.57
$GC,913,1.87,529.7,2922,2134,1866,4094,12.7,11.2,129,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2135,1865,1865,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.18,52.28
$GC,954,1.87,529.7,2922,2134,1864,4094,7.8,11.3,135,961,0.00,1.12,0.00,0.000,516,0.000,0.047,2923,1708,1863,1863,4094,0,0,0,0,0,0,26.48,25.98,26.48,10.19,53.54
$STATE,1003,end climb,FINISH_DEPTH_REACHED
$STATE,1003,begin subsurface finish
$FINISH1,1.3,1.024281,92
$GC,1019,0.14,91.9,2923,2149,1861,4094,1.3,12.2,143,1033,5.50,0.00,-4.93,0.000,20486,0.019,0.000,2383,2150,2381,2381,4094,0,0,0,0,0,0,26.24,24.41,26.28,10.21,53.62
$FINISH2,0.0
$STATE,1034,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1034,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,021257
$TT8_MAMPS,0.026215,0.101864
$HUMID,53.97
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.50,80.948
$10V_AH,10.30,72.264
$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,24.050,5.425,60.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.917,216.632,140.834,210.711,147.332,0.000,305.501,0.000,220.066,0.000,0.542,0.000
$DEVICE_MAMPS,65.790,46.665,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333672
$DATA_FILE_SIZE,10822,145
$CAP_FILE_SIZE,26125,0
$CFSIZE,1024409600,910032896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,032644,5919.511,-17034.061,10,0.8,14,8.6,0.6,285.4,11,4.5