version: 66.13
glider: 401
mission: 22
dive: 2640
start: 9 10 117 20 53 9
data:
$ID,401
$MISSION,22
$DIVE,2640
$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,29
$R_STBD_OVSHOOT,28
$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,2
$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
$GPS1,100917,201327,5938.0864,-17101.6895,5,0.8,18,8.4,0.0,50.2,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.3
$GPS2,100917,201327,5938.0864,-17101.6895,5,0.8,18,8.4,0.0,50.2,10,4.8
$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,143.7,68512,-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,-487.5,2382,1950,2387,4092,0.0,0.0,0,23,6.35,0.00,-2.08,0.000,20482,0.024,0.000,1765,1951,2608,2608,4095,0,0,0,0,0,0,26.23,28.83,26.29,10.32,53.89
$GC,30,-1.80,-487.5,1764,1950,2608,4095,0.1,0.0,1,40,0.00,1.23,-4.00,0.000,16644,0.000,1.222,1764,2380,3051,3051,4095,0,0,0,0,0,0,26.53,23.87,26.53,10.36,54.41
$GC,139,-1.80,-487.5,1763,2380,3053,4095,14.3,-17.1,16,148,0.00,1.08,0.00,0.000,1030,0.000,0.031,1764,1951,3054,3054,4095,0,0,0,0,0,0,26.16,26.13,26.23,10.46,53.81
$GC,188,-1.80,-487.5,1764,1951,3056,4095,23.0,-17.9,22,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1951,3055,3055,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.46,53.74
$GC,237,-1.80,-487.5,1764,1951,3056,4094,30.2,-13.8,28,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1951,3057,3057,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,53.46
$GC,285,-1.80,-487.5,1763,1951,3058,4094,36.6,-13.2,34,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1951,3058,3058,4095,0,0,0,0,0,0,26.60,26.60,26.60,10.39,51.65
$GC,334,-1.80,-487.5,1764,1951,3059,4095,43.2,-13.9,40,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1951,3059,3059,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.38,51.65
$GC,382,-1.80,-487.5,1764,1951,3060,4095,50.1,-14.2,46,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1951,3060,3060,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.37,50.31
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,412,begin apogee
$GC,426,-0.45,0.0,1764,2143,3062,4094,55.3,-14.3,50,463,4.55,0.00,28.48,1.258,10244,0.055,0.000,2185,2143,2484,2484,4095,0,0,0,0,0,0,26.15,25.20,23.93,10.37,49.92
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,470,1.80,487.5,2185,2143,2483,4095,59.4,0.0,54,515,7.65,0.00,28.25,1.237,11270,0.031,0.000,2901,2143,1918,1918,4094,0,0,0,0,0,0,25.70,25.91,23.56,10.24,48.62
$GC,557,1.80,487.5,2901,2142,1917,4094,53.0,12.1,64,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2143,1916,1916,4095,0,0,0,0,0,0,25.72,25.74,25.73,10.11,48.03
$GC,606,1.80,487.5,2900,2143,1915,4095,46.4,13.3,70,616,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1712,1915,1915,4095,0,0,0,0,0,0,25.93,25.51,25.94,10.11,47.99
$GC,729,1.80,487.5,2901,1711,1912,4095,30.4,13.0,87,738,0.00,1.02,0.00,0.000,1030,0.000,0.030,2902,2129,1911,1911,4095,0,0,0,0,0,0,25.91,25.87,25.94,10.09,48.30
$GC,779,1.80,487.5,2901,2128,1910,4095,23.9,12.4,93,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1910,1910,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.10,48.42
$GC,827,1.91,558.1,2901,2128,1909,4094,18.9,9.7,99,837,0.25,0.00,5.38,0.571,10246,0.040,0.000,2937,2129,1832,1832,4095,0,0,0,0,0,0,26.11,25.22,24.14,10.14,49.52
$GC,879,1.91,558.1,2936,2129,1831,4095,13.3,11.5,105,889,0.00,1.10,0.00,0.000,516,0.000,0.047,2937,1714,1831,1831,4094,0,0,0,0,0,0,26.34,25.87,26.36,10.15,51.45
$STATE,968,end climb,SURFACE_DEPTH_REACHED
$STATE,968,begin surface coast
$FINISH,0.6,1.024323
$STATE,976,end surface coast,CONTROL_FINISHED_OK
$STATE,976,begin surface
$SM_CCo,1087,0.00,0.000,0,0,1827,564.96
$SM_GC,1.06,28.10,0.60,0.00,0.020,0.033,0.000,238,1973,1827,-6.55,-1.14,564.96,0,0,0,0,0,0,26.20,26.15,26.22
$IRIDIUM_FIX,5955.74,-17228.01,100917,185656
$TT8_MAMPS,0.025466,0.261401
$HUMID,53.30
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.56,77.172
$10V_AH,9.96,69.224
$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,46.900,7.125,62.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,345.788,59.904,123.652,495.313,134.633,0.000,315.340,0.000,292.786,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1221.705,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.459,323.336,255.858,379.752,494.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333756
$DATA_FILE_SIZE,10787,119
$CAP_FILE_SIZE,23406,0
$CFSIZE,1024409600,889749504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,211227,5937.736,-17100.262,7,0.8,23,8.4,0.2,110.2,10,4.9