version: 66.13
glider: 401
mission: 22
dive: 2777
start: 9 13 117 6 4 28
data:
$ID,401
$MISSION,22
$DIVE,2777
$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,27
$R_STBD_OVSHOOT,59
$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
$GPS1,130917,054426,5918.0249,-17034.7461,10,0.9,18,8.6,0.5,329.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-1.7
$GPS2,130917,054426,5918.0249,-17034.7461,10,0.9,18,8.6,0.5,329.3,9,4.9
$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,156.2,24272,-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,-487.5,2386,1988,2379,4092,0.0,0.0,0,26,6.35,0.00,-4.70,0.000,20482,0.021,0.000,1762,1990,2876,2876,4095,0,0,0,0,0,0,26.21,28.83,26.22,10.34,53.38
$GC,33,-1.80,-487.5,1762,1990,2876,4095,0.1,-3.5,2,40,0.00,0.00,-1.45,0.000,16390,0.000,0.000,1762,1990,3058,3058,4094,0,0,0,0,0,0,26.49,23.62,26.43,10.44,53.26
$GC,75,-1.80,-487.5,1762,1990,3059,4094,5.2,-13.5,8,81,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1990,3059,3059,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.48,52.95
$GC,117,-1.80,-487.5,1762,1990,3060,4094,12.4,-17.4,14,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1990,3060,3060,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.48,52.79
$GC,159,-1.80,-487.5,1762,1990,3062,4095,19.8,-17.9,20,165,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1990,3062,3062,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.49,52.63
$GC,200,-1.80,-487.5,1762,1990,3063,4094,26.9,-16.5,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1990,3063,3063,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.47,52.24
$GC,242,-1.80,-487.5,1762,1990,3064,4095,32.5,-13.3,32,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1990,3064,3064,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.43,52.48
$GC,284,-1.80,-487.5,1762,1990,3065,4094,38.4,-13.9,38,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1990,3065,3065,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.42,51.33
$GC,326,-1.80,-487.5,1762,1990,3066,4095,44.3,-14.7,44,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1990,3066,3066,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.41,50.51
$GC,367,-1.80,-487.5,1762,1990,3067,4095,50.4,-14.2,50,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1990,3068,3068,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.40,50.74
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,411,-0.45,0.0,1762,2118,3069,4095,55.5,-14.0,55,447,4.57,0.00,28.62,1.253,10246,0.055,0.000,2186,2118,2484,2484,4094,0,0,0,0,0,0,26.12,25.18,23.90,10.40,49.64
$STATE,448,end apogee,CONTROL_FINISHED_OK
$STATE,448,begin climb
$GC,455,1.80,487.5,2185,2117,2484,4094,59.4,0.0,61,497,7.60,0.00,28.23,1.233,10246,0.031,0.000,2902,2118,1916,1916,4095,0,0,0,0,0,0,25.70,24.71,23.51,10.28,49.09
$GC,532,1.80,487.5,2902,2118,1915,4095,53.6,11.8,73,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1915,1915,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.15,47.95
$GC,574,1.80,487.5,2902,2118,1914,4094,48.1,12.9,79,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1913,1913,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.14,47.83
$GC,616,1.80,487.5,2903,2118,1912,4094,42.7,12.6,85,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1912,1912,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.13,48.26
$GC,658,1.80,487.5,2902,2118,1911,4094,37.3,13.2,91,664,0.00,1.08,0.00,0.000,516,0.000,0.047,2903,1714,1911,1911,4094,0,0,0,0,0,0,26.15,25.70,26.16,10.14,48.22
$GC,766,1.80,487.5,2902,1714,1908,4094,23.2,13.2,108,773,0.00,1.02,0.00,0.000,1030,0.000,0.029,2903,2134,1908,1908,4094,0,0,0,0,0,0,26.01,25.98,26.05,10.14,49.76
$GC,809,1.80,487.5,2902,2134,1907,4094,18.6,11.0,114,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1907,1907,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.17,49.92
$GC,851,1.80,487.5,2902,2134,1905,4094,14.2,10.9,120,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1906,1906,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.19,51.69
$GC,892,1.80,487.5,2902,2134,1904,4094,9.3,11.5,126,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2134,1904,1904,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.20,51.96
$GC,934,1.80,487.5,2902,2134,1903,4094,4.5,11.3,132,940,0.00,1.12,0.00,0.000,516,0.000,0.047,2903,1709,1903,1903,4094,0,0,0,0,0,0,26.50,25.98,26.51,10.20,52.79
$STATE,952,end climb,FINISH_DEPTH_REACHED
$STATE,952,begin subsurface finish
$FINISH1,1.7,1.024279,92
$GC,968,0.14,92.0,2903,2139,1902,4094,1.7,11.6,135,982,5.38,0.00,-4.43,0.000,20486,0.029,0.000,2390,2139,2380,2380,4094,0,0,0,0,0,0,26.10,24.41,26.19,10.21,53.89
$FINISH2,0.0
$STATE,983,end subsurface finish,CONTROL_FINISHED_OK
$STATE,983,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,043107
$TT8_MAMPS,0.025466,0.107856
$HUMID,53.30
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.51,81.110
$10V_AH,10.29,72.394
$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,23.900,5.175,56.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,360.236,199.240,140.034,199.412,147.008,0.000,299.771,0.000,208.744,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,50.490,1253.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333704
$DATA_FILE_SIZE,10893,137
$CAP_FILE_SIZE,25203,0
$CFSIZE,1024409600,909737984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,054426,5918.025,-17034.746,10,0.9,18,8.6,0.5,329.3,9,4.9