version: 66.13
glider: 401
mission: 22
dive: 2682
start: 9 11 117 13 56 40
data:
$ID,401
$MISSION,22
$DIVE,2682
$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,27
$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,2
$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
$GPS1,110917,131648,5930.3257,-17051.8516,6,0.8,19,8.4,0.4,242.4,10,4.7
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-2.6
$GPS2,110917,131648,5930.3257,-17051.8516,6,0.8,19,8.4,0.4,242.4,10,4.7
$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,145.5,51455,-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,-487.5,2380,1946,2384,4093,0.0,0.0,0,23,6.35,0.00,-2.05,0.000,20482,0.022,0.000,1759,1946,2603,2603,4094,0,0,0,0,0,0,26.27,28.83,26.32,10.32,54.21
$GC,30,-1.80,-487.5,1758,1945,2603,4094,0.0,0.0,1,40,0.00,1.27,-4.32,0.000,16644,0.000,1.218,1758,2380,3056,3056,4094,0,0,0,0,0,0,26.55,23.89,26.55,10.37,54.21
$GC,152,-1.80,-487.5,1758,2380,3058,4094,15.6,-16.8,18,161,0.00,1.10,0.00,0.000,1030,0.000,0.032,1758,1942,3060,3060,4094,0,0,0,0,0,0,26.18,26.14,26.21,10.46,54.29
$GC,201,-1.80,-487.5,1758,1941,3061,4094,23.9,-16.5,24,210,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1942,3062,3062,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.44,53.74
$GC,251,-1.80,-487.5,1758,1941,3062,4094,30.2,-13.2,30,259,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1941,3062,3062,4094,0,0,0,0,0,0,26.60,26.60,26.60,10.41,53.66
$GC,299,-1.80,-487.5,1757,1941,3064,4094,36.9,-14.3,36,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1942,3064,3064,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.39,51.85
$GC,348,-1.80,-487.5,1757,1941,3065,4095,44.0,-14.6,42,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1941,3066,3066,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.38,51.06
$GC,397,-1.80,-487.5,1758,1941,3066,4095,51.1,-14.8,48,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1942,3066,3066,4095,0,0,0,0,0,0,26.65,26.67,26.66,10.38,50.07
$STATE,419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,419,begin apogee
$GC,434,-0.45,0.0,1758,2147,3068,4094,55.5,-15.1,51,477,4.62,0.00,28.83,1.265,10244,0.055,0.000,2186,2147,2484,2484,4094,0,0,0,0,0,0,26.15,24.75,23.90,10.38,49.72
$STATE,478,end apogee,CONTROL_FINISHED_OK
$STATE,478,begin climb
$GC,484,1.80,487.5,2185,2146,2483,4094,60.2,0.0,56,529,7.60,0.00,28.42,1.247,11270,0.029,0.000,2901,2147,1916,1916,4094,0,0,0,0,0,0,25.72,25.94,23.52,10.24,48.89
$GC,571,1.80,487.5,2900,2146,1915,4094,54.1,12.3,66,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2147,1914,1914,4094,0,0,0,0,0,0,25.73,25.75,25.75,10.12,47.51
$GC,622,1.80,487.5,2900,2146,1913,4094,47.6,12.7,72,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2147,1913,1913,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.11,47.55
$GC,672,1.80,487.5,2901,2146,1912,4094,41.2,12.6,78,682,0.00,1.15,0.00,0.000,516,0.000,0.047,2901,1717,1911,1911,4094,0,0,0,0,0,0,26.08,25.65,26.10,10.10,48.38
$GC,866,1.80,487.5,2901,1717,1906,4094,17.3,10.9,105,874,0.00,0.98,0.00,0.000,1030,0.000,0.030,2901,2120,1906,1906,4094,0,0,0,0,0,0,26.08,26.03,26.10,10.15,50.82
$GC,915,1.86,524.1,2901,2119,1905,4094,11.5,10.2,111,925,0.10,0.00,3.40,0.348,10246,0.075,0.000,2921,2120,1872,1872,4094,0,0,0,0,0,0,26.22,24.65,24.00,10.17,52.48
$GC,967,1.86,524.1,2921,2119,1871,4094,5.6,11.8,117,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2120,1870,1870,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.17,53.34
$STATE,996,end climb,SURFACE_DEPTH_REACHED
$STATE,996,begin surface coast
$FINISH,0.4,1.024348
$STATE,1012,end surface coast,CONTROL_FINISHED_OK
$STATE,1013,begin surface
$SM_CCo,1123,0.00,0.000,0,0,1869,528.04
$SM_GC,0.81,28.15,0.45,0.00,0.019,0.041,0.000,231,1940,1869,-6.59,1.09,528.04,0,0,0,0,0,0,25.96,26.16,26.06
$IRIDIUM_FIX,5955.74,-17228.01,110917,130904
$TT8_MAMPS,0.025466,0.255409
$HUMID,53.30
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.52,78.372
$10V_AH,9.95,70.189
$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,46.825,5.950,60.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,355.229,60.615,126.854,510.435,142.533,0.000,323.741,0.000,302.274,0.000,0.543,0.000
$DEVICE_MAMPS,74.970,1217.880,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.945,334.143,264.509,392.250,508.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333752
$DATA_FILE_SIZE,10890,123
$CAP_FILE_SIZE,23647,0
$CFSIZE,1024409600,887685120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110917,141639,5929.539,-17052.285,8,0.9,28,8.4,0.5,250.0,10,5.0