version: 66.13
glider: 401
mission: 22
dive: 2779
start: 9 13 117 6 55 17
data:
$ID,401
$MISSION,22
$DIVE,2779
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,130917,064255,5917.5845,-17034.8301,35,0.9,41,8.6,0.7,297.7,9,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-42.1
$GPS2,130917,065431,5917.6099,-17034.8809,10,0.9,17,8.6,0.0,115.2,9,4.3
$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,155.4,23567,-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,-487.5,239,1927,1901,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,2049,0.104,0.000,705,1925,1901,1901,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.27,51.85
$GC,27,-1.80,-487.5,704,1924,1901,4094,0.7,0.0,1,57,11.55,1.27,-11.38,0.000,18692,0.054,1.202,1757,2376,3055,3055,4095,0,0,0,0,0,0,26.00,23.61,26.05,10.26,51.89
$GC,165,-1.80,-487.5,1756,2376,3058,4095,15.1,-17.0,22,171,0.00,1.02,0.00,0.000,1030,0.000,0.029,1757,1970,3058,3058,4095,0,0,0,0,0,0,26.08,26.04,26.10,10.52,51.65
$GC,207,-1.80,-487.5,1756,1970,3059,4095,23.5,-17.6,28,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1970,3059,3059,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.50,51.77
$GC,249,-1.80,-487.5,1757,1970,3060,4094,29.5,-13.4,34,256,0.00,1.15,0.00,0.000,516,0.000,0.051,1757,1518,3060,3060,4095,0,0,0,0,0,0,26.49,25.94,26.51,10.47,51.02
$GC,340,-1.80,-487.5,1756,1519,3063,4095,42.2,-14.4,48,346,0.00,1.02,0.00,0.000,1030,0.000,0.027,1757,1955,3062,3062,4094,0,0,0,0,0,0,26.23,26.21,26.27,10.44,49.68
$GC,382,-1.80,-487.5,1757,1955,3064,4094,48.4,-14.7,54,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1956,3063,3063,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.42,49.84
$GC,424,-1.80,-487.5,1757,1955,3065,4094,54.6,-14.5,60,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1955,3065,3065,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.41,48.54
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,450,-0.45,0.0,1757,2138,3066,4095,57.2,-14.9,62,486,4.62,0.00,28.67,1.290,10244,0.055,0.000,2186,2138,2484,2484,4094,0,0,0,0,0,0,26.07,25.11,23.80,10.42,49.01
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2185,2137,2484,4094,61.3,0.0,68,535,7.57,0.00,28.35,1.261,11270,0.030,0.000,2901,2138,1916,1916,4094,0,0,0,0,0,0,25.66,25.85,23.44,10.29,47.87
$GC,571,1.80,487.5,2900,2137,1915,4094,55.6,11.7,80,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2138,1914,1914,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.17,46.77
$GC,613,1.80,487.5,2900,2137,1913,4094,50.3,12.3,86,620,0.00,1.15,0.00,0.000,516,0.000,0.047,2901,1710,1914,1914,4094,0,0,0,0,0,0,25.88,25.44,25.89,10.16,47.08
$GC,751,1.80,487.5,2900,1710,1909,4094,32.2,13.2,108,758,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2129,1910,1910,4094,0,0,0,0,0,0,25.93,25.90,25.96,10.14,48.81
$GC,794,1.80,487.5,2900,2128,1908,4094,26.6,12.9,114,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1908,1908,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.14,48.38
$GC,836,1.83,502.4,2900,2128,1907,4094,21.6,10.6,120,843,0.00,0.00,2.38,0.166,8198,0.000,0.000,2901,2129,1897,1897,4094,0,0,0,0,0,0,26.37,24.89,23.66,10.17,49.17
$GC,879,1.89,541.9,2900,2128,1896,4094,17.3,10.2,126,887,0.20,0.00,3.97,0.446,10246,0.047,0.000,2932,2129,1851,1851,4094,0,0,0,0,0,0,26.17,25.13,24.01,10.19,50.23
$GC,923,1.89,541.9,2931,2128,1850,4094,12.3,11.9,132,929,0.00,1.10,0.00,0.000,516,0.000,0.047,2931,1712,1849,1849,4094,0,0,0,0,0,0,26.41,25.91,26.42,10.19,51.77
$STATE,1001,end climb,FINISH_DEPTH_REACHED
$STATE,1001,begin subsurface finish
$FINISH1,1.9,1.024278,92
$GC,1017,0.14,92.1,2932,2142,1846,4094,1.9,12.5,145,1031,5.55,0.00,-4.88,0.000,20486,0.018,0.000,2383,2143,2383,2383,4094,0,0,0,0,0,0,26.22,24.38,26.26,10.21,53.22
$FINISH2,0.2
$STATE,1032,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1032,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,053844
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.58
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.44,81.174
$10V_AH,10.10,72.441
$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,35.150,9.250,63.375,0.000,0.000,64.352,51.047,279.594,0.000,0.000,18.270,391.615,275.515,139.355,564.965,369.088,0.000,305.198,0.000,224.602,0.000,0.543,0.000
$DEVICE_MAMPS,104.040,1201.815,1289.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333540
$DATA_FILE_SIZE,10826,147
$CAP_FILE_SIZE,30459,0
$CFSIZE,1024409600,909639680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,130917,065431,5917.610,-17034.881,10,0.9,17,8.6,0.0,115.2,9,4.3