version: 66.13
glider: 401
mission: 22
dive: 2794
start: 9 13 117 12 36 1
data:
$ID,401
$MISSION,22
$DIVE,2794
$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,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,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
$GPS1,130917,122612,5915.6104,-17031.8027,4,0.9,22,8.6,0.6,172.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-43.2
$GPS2,130917,123522,5915.5449,-17031.7852,6,0.8,16,8.6,0.0,239.0,10,4.9
$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,160.7,19160,-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,-487.5,240,1969,1902,4092,0.0,0.0,0,22,7.57,0.00,0.00,0.000,2049,0.097,0.000,870,1969,1902,1902,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.26,52.71
$GC,29,-1.80,-487.5,870,1968,1902,4094,0.8,0.0,1,56,9.40,1.20,-11.20,0.000,19204,0.037,1.198,1754,2386,3055,3055,4094,0,0,0,0,0,0,25.98,23.60,26.01,10.26,52.52
$GC,70,-1.80,-487.5,1754,2386,3056,4094,0.2,1.3,5,80,0.00,1.10,0.00,0.000,1030,0.000,0.028,1754,1953,3056,3056,4094,0,0,0,0,0,0,26.00,25.94,26.02,10.51,53.11
$GC,120,-1.80,-487.5,1754,1953,3057,4094,8.2,-18.7,11,130,0.00,1.10,0.00,0.000,516,0.000,0.047,1754,1518,3058,3058,4094,0,0,0,0,0,0,26.39,25.87,26.40,10.51,52.36
$GC,372,-1.80,-487.5,1754,1518,3064,4094,46.8,-14.9,47,380,0.00,1.02,0.00,0.000,1030,0.000,0.029,1754,1949,3065,3065,4094,0,0,0,0,0,0,26.26,26.23,26.29,10.42,49.60
$GC,420,-1.80,-487.5,1754,1949,3066,4094,54.0,-14.7,53,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1949,3066,3066,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.41,49.29
$STATE,437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,437,begin apogee
$GC,451,-0.45,0.0,1754,2137,3067,4094,57.5,-15.3,55,488,4.68,0.00,28.90,1.295,10244,0.056,0.000,2185,2138,2484,2484,4094,0,0,0,0,0,0,26.08,25.10,23.78,10.41,49.29
$STATE,489,end apogee,CONTROL_FINISHED_OK
$STATE,489,begin climb
$GC,495,1.80,487.5,2185,2137,2484,4094,62.0,0.0,59,540,7.57,1.12,28.60,1.267,10756,0.031,0.043,2904,1705,1915,1915,4094,0,0,0,0,0,0,25.55,25.46,23.39,10.29,49.05
$GC,607,1.80,487.5,2903,1704,1913,4094,52.7,12.5,73,616,0.00,1.08,0.00,0.000,1030,0.000,0.030,2903,2132,1913,1913,4094,0,0,0,0,0,0,25.54,25.50,25.56,10.16,47.12
$GC,656,1.80,487.5,2903,2132,1911,4094,46.3,13.0,79,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1911,1911,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.15,47.63
$GC,705,1.80,487.5,2903,2132,1910,4094,39.8,13.0,85,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1910,1910,4094,0,0,0,0,0,0,26.15,26.16,26.16,10.14,47.48
$GC,754,1.80,487.5,2903,2132,1908,4094,33.3,13.2,91,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1908,1908,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.14,47.79
$GC,803,1.80,487.5,2903,2132,1907,4094,26.7,13.5,97,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1906,1906,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.14,47.95
$GC,852,1.80,487.5,2903,2132,1905,4094,20.6,11.7,103,861,0.00,1.10,0.00,0.000,516,0.000,0.046,2903,1711,1905,1905,4095,0,0,0,0,0,0,26.38,25.89,26.39,10.16,48.26
$STATE,1012,end climb,FINISH_DEPTH_REACHED
$STATE,1018,begin subsurface finish
$FINISH1,1.5,1.024295,91
$GC,1034,0.14,91.0,2903,2157,1900,4094,1.5,12.0,127,1053,5.30,0.00,-4.55,0.000,20486,0.023,0.000,2383,2157,2383,2383,4094,0,0,0,0,0,0,26.22,25.51,26.27,10.22,52.52
$FINISH2,-0.0
$STATE,1054,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1054,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,130917,112154
$TT8_MAMPS,0.025466,0.271138
$HUMID,52.52
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.39,81.580
$10V_AH,9.91,72.781
$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,34.525,9.275,57.500,0.000,0.000,25.279,20.422,252.498,0.000,0.000,18.160,362.036,0.000,104.075,797.584,347.135,0.000,312.411,0.000,318.405,0.000,0.542,0.000
$DEVICE_MAMPS,97.155,1197.990,1295.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.717,350.646,277.262,411.572,536.228,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333588
$DATA_FILE_SIZE,10870,129
$CAP_FILE_SIZE,26108,0
$CFSIZE,1024409600,908902400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130917,123522,5915.545,-17031.785,6,0.8,16,8.6,0.0,239.0,10,4.9