version: 66.13
glider: 401
mission: 22
dive: 2774
start: 9 13 117 4 56 32
data:
$ID,401
$MISSION,22
$DIVE,2774
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,130917,043647,5918.6528,-17034.4668,10,0.9,15,8.6,0.0,88.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-2.7
$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,-487.5,2390,1949,2382,4092,0.0,0.0,0,30,6.40,0.00,-6.78,0.000,20486,0.022,0.000,1760,1950,3056,3056,4094,0,0,0,0,0,0,26.29,24.35,26.33,10.34,53.50
$GC,37,-1.80,-487.5,1760,1949,3056,4094,-0.1,-0.3,2,45,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3057,3057,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.48,53.46
$GC,85,-1.80,-487.5,1760,1950,3058,4095,5.6,-14.9,8,94,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3058,3058,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.48,53.42
$GC,134,-1.80,-487.5,1759,1950,3060,4094,14.4,-18.3,14,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3060,3060,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.49,53.38
$GC,183,-1.80,-487.5,1759,1950,3061,4095,23.2,-18.0,20,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3062,3062,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.48,53.78
$GC,231,-1.80,-487.5,1759,1949,3062,4095,30.0,-13.1,26,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3062,3062,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.44,52.48
$GC,281,-1.80,-487.5,1759,1950,3063,4094,36.7,-13.6,32,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3064,3064,4095,0,0,0,0,0,0,26.65,26.67,26.66,10.42,51.57
$GC,329,-1.80,-487.5,1759,1949,3065,4095,43.7,-14.8,38,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3065,3065,4094,0,0,0,0,0,0,26.67,26.69,26.68,10.41,50.51
$GC,378,-1.80,-487.5,1759,1949,3066,4094,50.8,-14.9,44,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1950,3066,3066,4094,0,0,0,0,0,0,26.69,26.70,26.70,10.40,50.70
$STATE,406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,406,begin apogee
$GC,421,-0.45,0.0,1760,2150,3067,4095,55.7,-14.1,48,457,4.60,0.00,28.77,1.267,10246,0.056,0.000,2186,2150,2484,2484,4094,0,0,0,0,0,0,26.15,25.20,23.89,10.39,50.27
$STATE,458,end apogee,CONTROL_FINISHED_OK
$STATE,458,begin climb
$GC,465,1.80,487.5,2186,2150,2484,4094,60.3,0.0,52,509,7.60,0.00,28.10,1.247,10502,0.031,0.000,2902,2151,1917,1917,4095,0,0,0,0,0,0,25.73,24.38,23.52,10.28,49.80
$GC,551,1.80,487.5,2901,2150,1915,4095,53.9,12.5,62,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2151,1914,1914,4094,0,0,0,0,0,0,25.77,25.79,25.78,10.15,47.95
$GC,602,1.80,487.5,2901,2150,1914,4094,47.3,12.7,68,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2151,1914,1914,4094,0,0,0,0,0,0,25.98,26.00,26.00,10.14,48.42
$GC,652,1.80,487.5,2901,2150,1913,4094,40.5,13.5,74,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2150,1913,1913,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.14,48.81
$GC,703,1.80,487.5,2901,2150,1911,4094,33.7,13.3,80,712,0.00,1.15,0.00,0.000,516,0.000,0.048,2902,1715,1911,1911,4094,0,0,0,0,0,0,26.24,25.75,26.25,10.13,48.50
$GC,857,1.80,487.5,2901,1715,1906,4094,15.1,10.9,102,867,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2134,1905,1905,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.19,51.65
$GC,907,1.82,498.7,2902,2134,1905,4094,9.6,10.6,108,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1905,1905,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.19,52.04
$GC,955,1.82,498.7,2901,2134,1904,4094,4.2,11.3,114,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2134,1904,1904,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.20,52.83
$STATE,973,end climb,FINISH_DEPTH_REACHED
$STATE,973,begin subsurface finish
$FINISH1,1.6,1.024276,92
$GC,988,0.14,92.3,2902,2134,1903,4094,1.6,11.1,116,1008,5.25,1.25,-4.53,0.000,20996,0.018,1.222,2381,1709,2380,2380,4094,0,0,0,0,0,0,26.25,23.78,26.29,10.21,52.71
$FINISH2,-0.0
$STATE,1009,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1009,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,032146
$TT8_MAMPS,0.026215,0.241178
$HUMID,53.58
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.52,81.029
$10V_AH,9.94,72.338
$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,23.850,4.425,56.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,333.040,0.973,112.645,489.925,135.178,0.000,323.673,0.000,290.614,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,1221.705,1266.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,79.643,320.594,253.737,376.166,487.920,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333632
$DATA_FILE_SIZE,10802,118
$CAP_FILE_SIZE,22156,0
$CFSIZE,1024409600,909885440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,043647,5918.653,-17034.467,10,0.9,15,8.6,0.0,88.8,10,5.0