version: 66.13
glider: 401
mission: 22
dive: 2781
start: 9 13 117 7 33 19
data:
$ID,401
$MISSION,22
$DIVE,2781
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,130917,065431,5917.6099,-17034.8809,10,0.9,17,8.6,0.0,115.2,9,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-2.3
$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,-487.5,2382,1948,2379,4092,0.0,0.0,0,30,6.32,0.00,-6.70,0.000,20486,0.023,0.000,1767,1948,3057,3057,4094,0,0,0,0,0,0,26.14,24.30,26.17,10.33,53.62
$GC,38,-1.80,-487.5,1767,1948,3057,4094,-0.0,-0.2,3,44,0.00,1.15,0.00,0.000,260,0.000,0.038,1767,2384,3057,3057,4094,0,0,0,0,0,0,26.41,25.99,26.43,10.47,54.01
$GC,194,-1.80,-487.5,1766,2384,3061,4094,23.4,-17.6,28,201,0.00,1.10,0.00,0.000,1030,0.000,0.031,1767,1944,3062,3062,4095,0,0,0,0,0,0,26.18,26.14,26.21,10.47,53.18
$GC,237,-1.80,-487.5,1766,1944,3062,4095,29.2,-13.5,34,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3062,3062,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.44,53.11
$GC,278,-1.80,-487.5,1766,1944,3064,4094,34.9,-13.4,40,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.41,52.28
$GC,320,-1.80,-487.5,1766,1944,3064,4095,40.7,-13.7,46,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3064,3064,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.42,51.41
$GC,362,-1.80,-487.5,1766,1944,3066,4095,46.6,-14.2,52,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3066,3066,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.40,51.10
$GC,404,-1.80,-487.5,1766,1944,3067,4094,52.6,-14.6,58,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,1944,3068,3068,4095,0,0,0,0,0,0,26.65,26.66,26.66,10.39,50.66
$STATE,414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,414,begin apogee
$GC,429,-0.45,0.0,1766,2152,3067,4095,55.0,-14.1,60,465,4.53,0.00,28.60,1.255,10244,0.054,0.000,2186,2152,2484,2484,4094,0,0,0,0,0,0,26.13,25.20,23.91,10.39,50.43
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2186,2152,2484,4094,59.1,0.0,66,514,7.60,0.00,28.27,1.235,11270,0.030,0.000,2901,2152,1916,1916,4094,0,0,0,0,0,0,25.71,25.91,23.51,10.27,49.88
$GC,550,1.80,487.5,2899,2151,1915,4094,53.4,11.8,78,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1915,1915,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.15,48.26
$GC,592,1.80,487.5,2899,2151,1914,4094,47.9,13.8,84,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1914,1914,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.14,48.81
$GC,633,1.80,487.5,2899,2151,1912,4094,42.5,13.1,90,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1911,1911,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.14,48.54
$GC,675,1.80,487.5,2899,2151,1911,4094,37.1,12.7,96,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1911,1911,4095,0,0,0,0,0,0,26.15,26.16,26.16,10.13,48.70
$GC,717,1.80,487.5,2899,2151,1910,4095,31.7,12.7,102,724,0.00,1.15,0.00,0.000,516,0.000,0.047,2900,1714,1910,1910,4094,0,0,0,0,0,0,26.23,25.76,26.25,10.12,49.29
$GC,879,1.80,487.5,2900,1713,1905,4094,12.8,11.2,128,886,0.00,1.00,0.00,0.000,1030,0.000,0.030,2900,2126,1905,1905,4094,0,0,0,0,0,0,26.10,26.08,26.14,10.17,51.65
$GC,922,1.80,487.5,2900,2126,1904,4094,8.0,11.3,134,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1904,1904,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.19,52.67
$GC,964,1.80,487.5,2899,2125,1903,4094,3.3,10.8,140,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1903,1903,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.20,53.26
$STATE,975,end climb,SURFACE_DEPTH_REACHED
$STATE,975,begin surface coast
$FINISH,-0.1,1.011420
$STATE,989,end surface coast,CONTROL_FINISHED_OK
$STATE,989,begin surface
$SM_CCo,1099,0.00,0.000,0,0,1902,500.56
$SM_GC,0.88,27.60,0.45,0.00,0.019,0.038,0.000,237,1942,1902,-6.55,1.28,500.56,0,0,0,0,0,0,26.26,26.20,26.29
$IRIDIUM_FIX,5957.10,-16911.74,130917,053844
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.93
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.51,81.214
$10V_AH,10.28,72.479
$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,46.050,5.875,56.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.745,288.552,151.111,208.984,141.357,0.000,308.151,0.000,218.643,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,48.195,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.273,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,10852,144
$CAP_FILE_SIZE,24964,0
$CFSIZE,1024409600,909541376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,075240,5917.298,-17034.568,2,0.8,14,8.6,0.5,160.9,9,4.5