version: 66.13
glider: 401
mission: 22
dive: 2773
start: 9 13 117 4 37 26
data:
$ID,401
$MISSION,22
$DIVE,2773
$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,23
$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
$GPS1,130917,042710,5918.6919,-17034.3945,3,0.8,13,8.6,0.5,39.2,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-42.9
$GPS2,130917,043647,5918.6528,-17034.4668,10,0.9,15,8.6,0.0,88.8,10,5.0
$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,157.4,25331,-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,-487.5,237,1950,1847,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,2049,0.097,0.000,704,1950,1847,1847,4094,0,0,0,0,0,0,26.37,28.83,28.83,10.25,52.36
$GC,27,-1.80,-487.5,703,1950,1847,4094,0.6,0.0,1,57,11.52,1.27,-11.98,0.000,18692,0.055,1.210,1753,2387,3056,3056,4094,0,0,0,0,0,0,25.91,23.63,25.95,10.25,52.55
$GC,181,-1.80,-487.5,1752,2387,3060,4094,18.8,-18.4,25,187,0.00,1.10,0.00,0.000,1030,0.000,0.030,1753,1946,3060,3060,4094,0,0,0,0,0,0,26.07,26.03,26.10,10.52,52.55
$GC,223,-1.80,-487.5,1753,1946,3060,4094,26.2,-16.8,31,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3061,3061,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.49,52.32
$GC,265,-1.80,-487.5,1753,1946,3062,4095,32.1,-14.0,37,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3062,3062,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.46,51.61
$GC,307,-1.80,-487.5,1753,1946,3063,4095,38.1,-14.6,43,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3063,3063,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.44,50.59
$GC,349,-1.80,-487.5,1753,1946,3064,4094,44.1,-14.2,49,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3064,3064,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.43,49.72
$GC,390,-1.80,-487.5,1753,1946,3065,4095,50.2,-14.2,55,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3065,3065,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.42,49.09
$STATE,420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,434,-0.45,0.0,1753,2148,3066,4094,55.4,-14.0,60,471,4.70,0.00,28.67,1.256,10244,0.056,0.000,2185,2148,2484,2484,4094,0,0,0,0,0,0,26.06,25.13,23.83,10.41,48.70
$STATE,472,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,478,1.80,487.5,2185,2148,2484,4094,59.6,0.0,66,520,7.57,0.00,28.35,1.234,11270,0.031,0.000,2899,2148,1915,1915,4094,0,0,0,0,0,0,25.68,25.87,23.48,10.29,48.11
$GC,556,1.80,487.5,2899,2148,1914,4094,53.6,12.3,78,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2148,1914,1914,4094,0,0,0,0,0,0,25.70,25.71,25.70,10.17,47.20
$GC,598,1.80,487.5,2898,2148,1913,4094,48.4,12.4,84,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2148,1913,1913,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.16,47.59
$GC,639,1.80,487.5,2898,2147,1912,4094,43.2,12.2,90,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2148,1912,1912,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.16,47.51
$GC,681,1.80,487.5,2898,2148,1911,4094,38.0,12.0,96,688,0.00,1.15,0.00,0.000,516,0.000,0.046,2899,1713,1911,1911,4094,0,0,0,0,0,0,26.15,25.68,26.17,10.15,48.30
$GC,802,1.80,487.5,2898,1713,1907,4094,22.8,12.4,115,808,0.00,1.00,0.00,0.000,1030,0.000,0.029,2899,2125,1907,1907,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.15,49.17
$GC,845,1.83,504.3,2899,2124,1905,4094,18.4,10.5,121,851,0.00,0.00,2.40,0.168,8198,0.000,0.000,2899,2124,1895,1895,4094,0,0,0,0,0,0,26.40,24.91,23.70,10.19,49.76
$GC,887,1.83,504.3,2899,2124,1894,4094,13.6,10.9,127,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2125,1894,1894,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.20,51.61
$GC,929,1.83,504.3,2898,2124,1893,4094,9.0,11.4,133,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2125,1893,1893,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.21,52.44
$GC,971,1.83,504.3,2899,2125,1892,4094,4.3,11.0,139,977,0.00,1.08,0.00,0.000,516,0.000,0.047,2899,1716,1892,1892,4094,0,0,0,0,0,0,26.51,25.99,26.51,10.21,52.83
$STATE,989,end climb,FINISH_DEPTH_REACHED
$STATE,989,begin subsurface finish
$FINISH1,1.5,1.024277,92
$GC,1005,0.14,92.2,2899,2140,1890,4094,1.5,11.1,142,1019,5.30,0.00,-4.60,0.000,20486,0.028,0.000,2391,2142,2382,2382,4094,0,0,0,0,0,0,26.10,24.40,26.18,10.22,52.95
$FINISH2,-0.0
$STATE,1020,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,032146
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.62
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.48,81.009
$10V_AH,10.10,72.310
$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,34.700,7.175,59.425,0.000,0.000,23.202,22.151,278.582,0.000,0.000,17.018,382.107,213.319,145.991,486.033,374.173,0.000,314.062,0.000,220.421,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,1210.230,1256.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.756,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333512
$DATA_FILE_SIZE,10869,144
$CAP_FILE_SIZE,30078,0
$CFSIZE,1024409600,909934592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130917,043647,5918.653,-17034.467,10,0.9,15,8.6,0.0,88.8,10,5.0