version: 66.13
glider: 401
mission: 22
dive: 2712
start: 9 12 117 2 18 9
data:
$ID,401
$MISSION,22
$DIVE,2712
$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,30
$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,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
$GPS1,120917,013820,5927.2563,-17046.2383,6,0.9,17,8.5,0.0,25.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,0.6
$GPS2,120917,013820,5927.2563,-17046.2383,6,0.9,17,8.5,0.0,25.2,10,5.0
$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,148.4,44060,-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,-487.5,2384,1946,2385,4092,0.0,0.0,0,24,6.30,0.00,-2.15,0.000,20482,0.020,0.000,1759,1946,2718,2718,4094,0,0,0,0,0,0,26.26,28.83,26.31,10.32,54.01
$GC,31,-1.80,-487.5,1758,1946,2718,4094,1.8,0.0,1,40,0.00,0.00,-1.90,0.000,16390,0.000,0.000,1759,1946,3057,3057,4095,0,0,0,0,0,0,26.55,25.58,26.53,10.38,53.85
$GC,80,-1.80,-487.5,1759,1946,3058,4095,8.6,-17.5,7,89,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1946,3058,3058,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.46,54.05
$GC,129,-1.80,-487.5,1759,1946,3060,4095,16.9,-17.0,13,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1946,3060,3060,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.47,53.66
$GC,178,-1.80,-487.5,1759,1946,3061,4095,24.6,-14.9,19,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1946,3061,3061,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,54.05
$GC,227,-1.80,-487.5,1759,1946,3062,4095,31.4,-14.1,25,236,0.00,1.15,0.00,0.000,260,0.000,0.045,1759,2375,3063,3063,4094,0,0,0,0,0,0,26.55,26.04,26.56,10.40,52.44
$GC,315,-1.80,-487.5,1758,2374,3065,4094,44.2,-14.9,37,325,0.00,1.05,0.00,0.000,1030,0.000,0.032,1759,1953,3065,3065,4095,0,0,0,0,0,0,26.25,26.16,26.25,10.38,50.90
$GC,366,-1.80,-487.5,1759,1953,3066,4095,51.4,-14.8,43,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1953,3066,3066,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.37,50.63
$STATE,388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,389,begin apogee
$GC,403,-0.45,0.0,1759,2144,3068,4095,56.0,-15.0,46,440,4.62,0.00,28.83,1.270,10244,0.056,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.12,25.16,23.87,10.37,49.96
$STATE,441,end apogee,CONTROL_FINISHED_OK
$STATE,441,begin climb
$GC,447,1.80,487.5,2185,2144,2484,4094,60.4,0.0,50,492,7.60,0.00,28.50,1.247,11270,0.030,0.000,2901,2144,1914,1914,4094,0,0,0,0,0,0,25.67,25.87,23.49,10.24,49.68
$GC,534,1.80,487.5,2901,2144,1913,4094,54.2,12.5,60,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1913,1913,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.11,48.26
$GC,585,1.80,487.5,2901,2143,1912,4094,47.5,12.9,66,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1912,1912,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.11,48.34
$GC,635,1.80,487.5,2901,2144,1911,4094,41.1,12.7,72,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1910,1910,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.10,48.42
$GC,686,1.80,487.5,2901,2144,1909,4094,34.8,12.4,78,695,0.00,1.12,0.00,0.000,516,0.000,0.047,2902,1716,1909,1909,4094,0,0,0,0,0,0,26.19,25.72,26.20,10.10,48.42
$GC,788,1.80,487.5,2901,1716,1906,4094,21.4,11.9,92,797,0.00,1.00,0.00,0.000,1030,0.000,0.031,2902,2125,1906,1906,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.12,49.21
$GC,838,1.94,578.7,2901,2125,1905,4094,16.5,9.4,98,849,0.35,0.00,6.25,0.597,10246,0.035,0.000,2943,2125,1808,1808,4094,0,0,0,0,0,0,26.16,25.23,24.16,10.15,50.66
$GC,891,1.95,585.3,2942,2125,1807,4094,10.8,10.7,104,899,0.00,0.00,0.40,0.003,8198,0.000,0.000,2943,2125,1807,1807,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.15,52.59
$GC,941,1.95,585.3,2942,2125,1806,4094,4.1,14.0,110,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2125,1805,1805,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.16,53.03
$STATE,957,end climb,SURFACE_DEPTH_REACHED
$STATE,958,begin surface coast
$FINISH,0.0,1.024332
$STATE,972,end surface coast,CONTROL_FINISHED_OK
$STATE,973,begin surface
$SM_CCo,1083,0.00,0.000,0,0,1803,585.57
$SM_GC,0.73,28.15,0.45,0.00,0.019,0.042,0.000,238,1955,1803,-6.55,1.37,585.57,0,0,0,0,0,0,26.17,26.10,26.22
$IRIDIUM_FIX,5957.10,-16911.74,120917,002242
$TT8_MAMPS,0.025466,0.252413
$HUMID,53.30
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.49,79.257
$10V_AH,9.93,70.883
$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,47.025,5.700,63.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,339.663,59.637,130.582,475.644,149.495,0.000,330.183,0.000,280.180,0.000,0.543,0.000
$DEVICE_MAMPS,55.845,46.665,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,77.336,309.682,245.178,363.655,474.128,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,10939,114
$CAP_FILE_SIZE,24684,0
$CFSIZE,1024409600,886210560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120917,023719,5926.462,-17046.000,8,1.0,19,8.5,0.2,48.6,9,4.8