version: 66.13
glider: 401
mission: 22
dive: 2784
start: 9 13 117 8 41 59
data:
$ID,401
$MISSION,22
$DIVE,2784
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,130917,080147,5917.3262,-17034.5312,9,0.8,14,8.6,0.9,34.7,9,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-3.1
$GPS2,130917,080147,5917.3262,-17034.5312,9,0.8,14,8.6,0.9,34.7,9,4.7
$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,155.8,22970,-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,-487.5,2385,1951,2383,4092,0.0,0.0,0,23,6.35,0.00,-2.10,0.000,20482,0.018,0.000,1759,1952,2599,2599,4095,0,0,0,0,0,0,26.27,28.83,26.32,10.32,54.48
$GC,30,-1.80,-487.5,1759,1951,2599,4095,0.1,0.0,1,41,0.00,1.27,-4.38,0.000,16644,0.000,1.213,1759,2391,3056,3056,4094,0,0,0,0,0,0,26.56,23.83,26.56,10.37,54.44
$GC,289,-1.80,-487.5,1758,2391,3063,4094,37.0,-13.7,38,298,0.00,1.12,0.00,0.000,1030,0.000,0.031,1759,1941,3063,3063,4094,0,0,0,0,0,0,26.25,26.20,26.28,10.41,52.48
$GC,339,-1.80,-487.5,1758,1941,3065,4094,44.1,-14.6,44,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1942,3065,3065,4095,0,0,0,0,0,0,26.65,26.66,26.67,10.40,51.53
$GC,387,-1.80,-487.5,1758,1941,3066,4095,51.4,-14.9,50,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1941,3066,3066,4094,0,0,0,0,0,0,26.67,26.68,26.68,10.39,50.90
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,426,-0.45,0.0,1759,2149,3067,4095,55.6,-14.7,53,462,4.62,0.00,28.83,1.266,10244,0.055,0.000,2185,2149,2484,2484,4094,0,0,0,0,0,0,26.15,25.19,23.89,10.39,50.86
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,469,1.80,487.5,2185,2149,2484,4094,60.2,0.0,57,514,7.60,0.00,28.42,1.245,11270,0.030,0.000,2900,2149,1915,1915,4095,0,0,0,0,0,0,25.72,25.91,23.49,10.27,49.56
$GC,556,1.80,487.5,2899,2149,1914,4095,54.0,12.1,67,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,1914,1914,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.14,48.58
$GC,606,1.80,487.5,2899,2149,1913,4094,47.5,13.0,73,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,1913,1913,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.14,48.97
$GC,657,1.80,487.5,2899,2149,1911,4094,40.9,13.0,79,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,1911,1911,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.13,48.42
$GC,707,1.80,487.5,2899,2149,1909,4094,34.3,13.0,85,717,0.00,1.17,0.00,0.000,516,0.000,0.047,2900,1707,1909,1909,4094,0,0,0,0,0,0,26.22,25.75,26.23,10.13,49.05
$GC,868,1.80,487.5,2899,1707,1905,4094,14.9,11.2,108,878,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2129,1905,1905,4094,0,0,0,0,0,0,26.08,26.06,26.13,10.17,51.65
$GC,918,1.81,488.6,2899,2128,1904,4094,9.3,10.8,114,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1904,1904,4094,0,0,0,0,0,0,26.47,26.49,26.48,10.19,51.89
$GC,967,1.81,488.6,2899,2128,1902,4094,3.6,11.6,120,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2129,1902,1902,4093,0,0,0,0,0,0,26.51,26.53,26.52,10.20,52.79
$STATE,984,end climb,SURFACE_DEPTH_REACHED
$STATE,984,begin surface coast
$FINISH,-0.0,1.024282
$STATE,1005,end surface coast,CONTROL_FINISHED_OK
$STATE,1005,begin surface
$SM_CCo,1116,0.00,0.000,0,0,1900,501.42
$SM_GC,0.86,27.75,0.47,0.00,0.020,0.043,0.000,231,1941,1900,-6.59,1.05,501.42,0,0,0,0,0,0,26.06,26.20,26.14
$IRIDIUM_FIX,5957.10,-16911.74,130917,064851
$TT8_MAMPS,0.025466,0.273385
$HUMID,53.03
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.49,81.296
$10V_AH,9.94,72.555
$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,46.325,6.050,57.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,359.189,60.336,114.970,523.596,129.737,0.000,304.152,0.000,306.048,0.000,0.544,0.000
$DEVICE_MAMPS,55.080,1212.525,1266.075,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.331,339.730,268.674,399.062,521.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333628
$DATA_FILE_SIZE,10853,125
$CAP_FILE_SIZE,21724,0
$CFSIZE,1024409600,909393920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,090151,5917.085,-17033.977,3,0.8,28,8.6,1.0,75.7,10,5.0