version: 66.13
glider: 401
mission: 22
dive: 2769
start: 9 13 117 2 58 27
data:
$ID,401
$MISSION,22
$DIVE,2769
$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,22
$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
$GPS1,130917,021919,5920.4785,-17034.1055,10,1.2,55,8.6,0.0,215.3,8,3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-3.6
$GPS2,130917,021919,5920.4785,-17034.1055,10,1.2,55,8.6,0.0,215.3,8,3.4
$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,159.7,28552,-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,13,-1.80,-487.5,2383,1961,2378,4092,0.0,0.0,0,31,6.32,0.00,-6.72,0.000,20486,0.023,0.000,1761,1962,3057,3057,4094,0,0,0,0,0,0,26.25,24.33,26.27,10.33,54.17
$GC,38,-1.80,-487.5,1760,1961,3057,4094,-0.1,-0.2,3,44,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1961,3057,3057,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.48,54.05
$GC,80,-1.80,-487.5,1760,1961,3058,4094,4.2,-12.5,9,86,0.00,1.12,0.00,0.000,516,0.000,0.052,1761,1521,3058,3058,4094,0,0,0,0,0,0,26.50,25.97,26.51,10.48,53.78
$GC,158,-1.80,-487.5,1760,1521,3060,4094,18.3,-18.3,21,165,0.00,1.05,0.00,0.000,1030,0.000,0.029,1760,1957,3061,3061,4095,0,0,0,0,0,0,26.24,26.20,26.26,10.48,53.38
$GC,201,-1.80,-487.5,1760,1957,3062,4095,25.2,-15.0,27,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1957,3062,3062,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.46,53.26
$GC,242,-1.80,-487.5,1760,1957,3063,4095,31.2,-14.1,33,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1957,3062,3062,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.43,52.63
$GC,284,-1.80,-487.5,1760,1957,3064,4095,37.0,-13.6,39,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1957,3064,3064,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.42,51.89
$GC,326,-1.80,-487.5,1760,1957,3065,4094,43.2,-15.3,45,333,0.00,1.10,0.00,0.000,260,0.000,0.048,1761,2377,3066,3066,4095,0,0,0,0,0,0,26.64,26.10,26.65,10.41,51.57
$GC,398,-1.80,-487.5,1760,2377,3068,4095,53.7,-14.2,56,405,0.00,1.05,0.00,0.000,1030,0.000,0.031,1761,1955,3067,3067,4094,0,0,0,0,0,0,26.29,26.25,26.32,10.40,50.82
$STATE,410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,410,begin apogee
$GC,425,-0.45,0.0,1760,2147,3067,4095,56.3,-14.2,58,461,4.60,0.00,28.65,1.276,10244,0.055,0.000,2184,2147,2484,2484,4094,0,0,0,0,0,0,26.15,25.21,23.92,10.39,50.94
$STATE,462,end apogee,CONTROL_FINISHED_OK
$STATE,462,begin climb
$GC,468,1.80,487.5,2184,2146,2484,4094,60.3,0.0,64,510,7.62,0.00,28.25,1.251,11270,0.031,0.000,2901,2147,1915,1915,4094,0,0,0,0,0,0,25.72,25.91,23.52,10.27,50.51
$GC,546,1.88,536.3,2900,2146,1915,4094,55.2,10.0,76,554,0.15,0.00,4.60,0.737,10246,0.054,0.000,2926,2147,1859,1859,4094,0,0,0,0,0,0,25.51,24.80,23.51,10.15,48.58
$GC,590,1.88,536.3,2926,2146,1858,4094,50.0,13.1,82,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2147,1858,1858,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.13,48.85
$GC,632,1.88,536.3,2925,2147,1857,4094,44.5,13.4,88,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2147,1856,1856,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.13,49.09
$GC,673,1.88,536.3,2925,2146,1855,4094,38.9,13.7,94,680,0.00,1.15,0.00,0.000,516,0.000,0.044,2926,1714,1855,1855,4094,0,0,0,0,0,0,26.14,25.70,26.15,10.12,49.17
$GC,776,1.88,536.3,2925,1713,1852,4094,24.9,13.9,110,783,0.00,1.00,0.00,0.000,1030,0.000,0.031,2927,2122,1852,1852,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.11,49.76
$GC,818,1.88,536.3,2926,2122,1851,4094,19.7,11.3,116,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2122,1850,1850,4095,0,0,0,0,0,0,26.39,26.40,26.39,10.15,50.39
$GC,860,1.88,536.3,2926,2122,1849,4095,15.0,11.3,122,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2122,1849,1849,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.17,51.49
$GC,902,1.88,536.3,2926,2122,1848,4094,10.1,12.1,128,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2122,1848,1848,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.18,52.95
$GC,944,1.88,536.3,2926,2122,1847,4094,4.9,12.4,134,951,0.00,1.08,0.00,0.000,516,0.000,0.049,2926,1715,1847,1847,4094,0,0,0,0,0,0,26.50,25.98,26.51,10.19,54.05
$STATE,962,end climb,SURFACE_DEPTH_REACHED
$STATE,962,begin surface coast
$FINISH,0.3,1.024277
$STATE,975,end surface coast,CONTROL_FINISHED_OK
$STATE,975,begin surface
$SM_CCo,1086,0.00,0.000,0,0,1845,549.50
$SM_GC,0.79,28.02,0.57,0.00,0.019,0.032,0.000,238,1970,1845,-6.55,-1.46,549.50,0,0,0,0,0,0,26.25,26.24,26.29
$IRIDIUM_FIX,5957.10,-16911.74,130917,021117
$TT8_MAMPS,0.025466,0.11235
$HUMID,54.68
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.51,80.890
$10V_AH,10.30,72.216
$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,46.725,9.075,61.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.328,268.643,159.729,201.928,152.773,0.000,318.561,0.000,211.593,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,52.020,1276.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333652
$DATA_FILE_SIZE,10919,139
$CAP_FILE_SIZE,27152,0
$CFSIZE,1024409600,910131200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,031756,5919.570,-17034.020,2,0.8,35,8.6,0.3,111.3,10,4.9