version: 66.13
glider: 401
mission: 22
dive: 2811
start: 9 13 117 19 48 22
data:
$ID,401
$MISSION,22
$DIVE,2811
$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,37
$R_STBD_OVSHOOT,32
$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
$GPS1,130917,190445,5912.9604,-17036.5098,7,0.8,21,8.6,1.2,315.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-3.4
$GPS2,130917,190445,5912.9604,-17036.5098,7,0.8,21,8.6,1.2,315.7,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W2S
$TGT_LATLONG,5831.120,-16957.779
$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,145.6,86067,-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,-487.5,2379,1942,2386,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.019,0.000,1823,1941,2386,2386,4094,0,0,0,0,0,0,26.51,28.83,28.83,10.33,53.22
$GC,27,-1.80,-487.5,1823,1942,2386,4094,0.1,0.0,1,40,0.40,1.23,-6.45,0.000,20740,0.041,1.218,1778,2371,3054,3054,4094,0,0,0,0,0,0,26.17,23.80,26.22,10.33,53.70
$GC,88,-1.80,-487.5,1777,2371,3055,4094,3.2,-11.4,10,95,0.00,1.05,0.00,0.000,1030,0.000,0.034,1778,1961,3055,3055,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.47,54.09
$GC,131,-1.80,-487.5,1778,1961,3056,4095,7.5,-10.9,16,137,0.00,1.10,0.00,0.000,260,0.000,0.039,1778,2378,3056,3056,4094,0,0,0,0,0,0,26.49,26.05,26.51,10.48,53.93
$GC,180,-1.80,-487.5,1777,2378,3056,4094,12.7,-10.5,23,186,0.00,1.23,0.00,0.000,1030,0.000,0.035,1778,1900,3057,3057,4094,0,0,0,0,0,0,26.13,26.08,26.17,10.48,53.58
$GC,223,-1.80,-487.5,1778,1900,3058,4094,17.1,-10.2,29,229,0.00,1.00,0.00,0.000,516,0.000,0.060,1778,1514,3058,3058,4095,0,0,0,0,0,0,26.55,25.98,26.57,10.48,53.15
$GC,296,-1.80,-487.5,1777,1513,3059,4095,25.1,-10.1,40,302,0.00,0.77,0.00,0.000,1030,0.000,0.027,1778,1878,3059,3059,4095,0,0,0,0,0,0,26.35,26.33,26.36,10.46,52.79
$GC,339,-1.80,-487.5,1778,1880,3060,4095,29.0,-8.9,46,345,0.00,1.27,0.00,0.000,260,0.000,0.039,1778,2375,3060,3060,4094,0,0,0,0,0,0,26.62,26.13,26.63,10.43,53.30
$GC,411,-1.80,-487.5,1777,2374,3061,4094,35.7,-9.6,57,418,0.00,1.42,0.00,0.000,1030,0.000,0.037,1778,1821,3061,3061,4094,0,0,0,0,0,0,26.21,26.15,26.25,10.41,52.12
$GC,454,-1.80,-487.5,1777,1820,3062,4094,39.8,-9.6,63,461,0.00,0.77,0.00,0.000,516,0.000,0.062,1778,1516,3062,3062,4095,0,0,0,0,0,0,26.66,26.10,26.67,10.40,51.53
$GC,545,-1.80,-487.5,1777,1516,3064,4095,49.2,-10.3,77,552,0.00,0.60,0.00,0.000,1030,0.000,0.030,1778,1820,3064,3064,4095,0,0,0,0,0,0,26.44,26.41,26.45,10.39,50.59
$GC,588,-1.80,-487.5,1777,1821,3064,4095,53.6,-10.5,83,595,0.00,1.42,0.00,0.000,260,0.000,0.038,1778,2374,3064,3064,4095,0,0,0,0,0,0,26.70,26.20,26.72,10.39,49.96
$STATE,600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,600,begin apogee
$GC,615,-0.45,0.0,1778,2115,3065,4094,55.5,-10.4,85,651,4.43,0.00,28.48,1.244,10244,0.055,0.000,2186,2115,2484,2484,4094,0,0,0,0,0,0,26.17,25.21,23.91,10.39,51.02
$STATE,652,end apogee,CONTROL_FINISHED_OK
$STATE,652,begin climb
$GC,658,1.80,487.5,2185,2115,2484,4094,58.7,0.0,91,700,7.57,0.00,28.30,1.229,11270,0.030,0.000,2898,2115,1915,1915,4094,0,0,0,0,0,0,25.76,25.96,23.51,10.27,50.51
$GC,736,1.80,487.5,2898,2115,1915,4094,54.1,10.8,103,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2115,1914,1914,4094,0,0,0,0,0,0,25.73,25.75,25.74,10.15,48.81
$GC,778,1.92,567.1,2897,2115,1914,4094,50.1,9.6,109,792,0.35,1.23,6.22,0.840,10500,0.035,0.047,2941,2566,1823,1823,4094,0,0,0,0,0,0,25.70,24.51,23.66,10.14,48.50
$GC,816,1.92,567.1,2941,2565,1822,4094,46.2,10.8,114,822,0.00,0.95,0.00,0.000,1030,0.000,0.026,2941,2179,1822,1822,4094,0,0,0,0,0,0,25.71,25.68,25.73,10.12,49.48
$GC,859,1.93,573.6,2941,2178,1821,4094,41.6,10.7,120,866,0.00,1.20,2.25,0.147,8708,0.000,0.046,2941,1719,1814,1814,4094,0,0,0,0,0,0,26.09,24.99,23.52,10.12,49.76
$GC,957,2.00,618.8,2940,1718,1812,4094,31.4,10.1,135,965,0.17,1.15,4.18,0.547,11270,0.037,0.028,2969,2186,1762,1762,4094,0,0,0,0,0,0,25.94,25.92,23.87,10.11,49.40
$GC,1001,2.02,632.1,2968,2185,1761,4094,26.7,10.6,141,1009,0.00,1.02,2.58,0.237,8452,0.000,0.054,2969,2567,1746,1746,4094,0,0,0,0,0,0,26.30,25.20,23.87,10.09,50.00
$GC,1051,2.12,695.9,2968,2567,1745,4094,21.5,9.8,148,1065,0.25,0.80,5.25,0.580,11270,0.030,0.026,2997,2206,1672,1672,4094,0,0,0,0,0,0,26.05,26.09,24.10,10.11,50.63
$GC,1101,2.13,704.8,2997,2206,1671,4094,16.6,10.7,155,1109,0.00,1.23,0.62,0.004,8708,0.000,0.042,2998,1718,1671,1671,4094,0,0,0,0,0,0,26.35,25.85,26.35,10.13,51.53
$STATE,1246,end climb,SURFACE_DEPTH_REACHED
$STATE,1246,begin surface coast
$FINISH,-0.0,1.012886
$STATE,1264,end surface coast,CONTROL_FINISHED_OK
$STATE,1264,begin surface
$SM_CCo,1376,0.00,0.000,0,0,1666,703.19
$SM_GC,0.50,28.95,0.55,0.00,0.021,0.035,0.000,231,1962,1666,-6.59,-1.46,703.19,0,0,0,0,0,0,25.87,26.20,26.00
$IRIDIUM_FIX,5957.10,-16911.74,130917,175055
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.21
$INTERNAL_PRESSURE,10.1016
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.51,82.168
$10V_AH,10.29,73.180
$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,47.750,21.075,77.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,487.058,353.191,174.205,261.644,171.502,0.000,363.404,0.000,271.030,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1217.880,1243.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,121.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,14346,181
$CAP_FILE_SIZE,35908,0
$CFSIZE,1024409600,908050432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,201241,5913.459,-17036.732,25,0.8,35,8.5,0.3,331.8,10,4.8