version: 66.13
glider: 401
mission: 22
dive: 2796
start: 9 13 117 13 14 52
data:
$ID,401
$MISSION,22
$DIVE,2796
$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,41
$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
$GPS1,130917,123522,5915.5449,-17031.7852,6,0.8,16,8.6,0.0,239.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-4.1
$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,-487.5,2376,1948,2383,4092,0.0,0.0,0,30,6.25,0.00,-6.62,0.000,20486,0.021,0.000,1763,1947,3055,3055,4095,0,0,0,0,0,0,26.27,24.30,26.32,10.33,54.25
$GC,37,-1.80,-487.5,1764,1947,3056,4095,-0.0,-0.8,2,47,0.00,1.10,0.00,0.000,260,0.000,0.038,1764,2369,3055,3055,4095,0,0,0,0,0,0,26.48,26.05,26.49,10.47,53.89
$GC,68,-1.80,-487.5,1763,2368,3056,4095,2.3,-5.7,5,77,0.00,1.05,0.00,0.000,1030,0.000,0.034,1764,1953,3056,3056,4095,0,0,0,0,0,0,26.16,26.12,26.19,10.47,54.05
$GC,118,-1.80,-487.5,1763,1953,3058,4095,10.3,-16.0,11,126,0.00,1.10,0.00,0.000,260,0.000,0.042,1764,2366,3058,3058,4095,0,0,0,0,0,0,26.55,26.08,26.56,10.47,54.33
$GC,388,-1.80,-487.5,1763,2366,3065,4095,50.5,-14.7,50,397,0.00,1.02,0.00,0.000,1030,0.000,0.032,1763,1956,3066,3066,4095,0,0,0,0,0,0,26.30,26.25,26.33,10.39,50.70
$STATE,418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,418,begin apogee
$GC,432,-0.45,0.0,1763,2136,3066,4094,55.8,-14.8,54,468,4.55,0.00,28.80,1.267,10244,0.055,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.17,25.19,23.88,10.39,50.51
$STATE,469,end apogee,CONTROL_FINISHED_OK
$STATE,469,begin climb
$GC,476,1.80,487.5,2185,2136,2484,4094,60.2,0.0,58,520,7.62,0.00,28.38,1.244,11270,0.030,0.000,2902,2136,1917,1917,4094,0,0,0,0,0,0,25.72,25.93,23.51,10.27,50.15
$GC,562,1.80,487.5,2901,2136,1915,4094,54.0,12.1,68,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1915,1915,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.14,48.30
$GC,611,1.80,487.5,2901,2137,1914,4094,47.5,13.1,74,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2137,1914,1914,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.14,48.26
$GC,661,1.80,487.5,2901,2136,1913,4094,41.1,13.2,80,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1912,1912,4094,0,0,0,0,0,0,26.10,26.13,26.12,10.13,48.58
$GC,711,1.80,487.5,2901,2136,1911,4094,34.6,12.8,86,721,0.00,1.15,0.00,0.000,516,0.000,0.047,2902,1706,1911,1911,4094,0,0,0,0,0,0,26.22,25.74,26.23,10.13,48.89
$GC,800,1.80,487.5,2901,1705,1908,4094,22.9,13.0,98,809,0.00,1.02,0.00,0.000,1030,0.000,0.031,2902,2124,1908,1908,4094,0,0,0,0,0,0,26.02,25.99,26.04,10.13,49.21
$GC,849,1.80,487.5,2901,2124,1907,4094,17.4,10.8,104,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1907,1907,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.18,50.31
$GC,899,1.80,487.5,2902,2124,1906,4094,11.8,11.5,110,908,0.00,1.10,0.00,0.000,516,0.000,0.049,2902,1708,1905,1905,4094,0,0,0,0,0,0,26.45,25.94,26.46,10.19,51.65
$STATE,974,end climb,SURFACE_DEPTH_REACHED
$STATE,975,begin surface coast
$FINISH,0.5,1.024293
$STATE,989,end surface coast,CONTROL_FINISHED_OK
$STATE,989,begin surface
$SM_CCo,1100,0.00,0.000,0,0,1902,500.56
$SM_GC,0.73,27.73,0.60,0.00,0.021,0.035,0.000,238,1958,1902,-6.55,-1.41,500.56,0,0,0,0,0,0,26.24,26.19,26.28
$IRIDIUM_FIX,5957.10,-16911.74,130917,112154
$TT8_MAMPS,0.025466,0.245672
$HUMID,52.91
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.51,81.621
$10V_AH,9.94,72.820
$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,46.150,9.125,57.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,352.817,60.495,117.745,511.571,129.548,0.000,304.946,0.000,302.400,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,48.960,1266.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.887,334.283,264.369,392.487,509.984,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333732
$DATA_FILE_SIZE,10847,123
$CAP_FILE_SIZE,22281,0
$CFSIZE,1024409600,908804096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,133432,5914.819,-17031.959,5,0.7,32,8.6,0.4,283.6,11,5.0