version: 66.13
glider: 401
mission: 22
dive: 2820
start: 9 13 117 23 25 2
data:
$ID,401
$MISSION,22
$DIVE,2820
$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,29
$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
$GPS1,130917,224446,5913.8096,-17034.9355,6,0.9,37,8.6,0.2,36.1,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-3.2
$GPS2,130917,224446,5913.8096,-17034.9355,6,0.9,37,8.6,0.2,36.1,9,5.0
$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,147.0,86845,-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,-487.5,2383,1943,2382,4092,0.0,0.0,0,23,6.35,0.00,-2.08,0.000,20482,0.022,0.000,1761,1944,2599,2599,4095,0,0,0,0,0,0,26.29,28.83,26.34,10.33,54.29
$GC,30,-1.80,-487.5,1760,1943,2599,4095,0.1,0.0,1,40,0.00,1.20,-4.35,0.000,16900,0.000,1.235,1761,1528,3057,3057,4095,0,0,0,0,0,0,26.58,23.82,26.58,10.38,54.44
$GC,237,-1.80,-487.5,1760,1527,3062,4095,29.0,-13.9,30,247,0.00,1.00,0.00,0.000,1030,0.000,0.029,1761,1953,3063,3063,4095,0,0,0,0,0,0,26.29,26.27,26.32,10.43,53.15
$GC,289,-1.80,-487.5,1759,1953,3064,4095,36.1,-13.9,36,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3064,3064,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.41,52.71
$GC,340,-1.80,-487.5,1760,1953,3066,4094,43.4,-14.8,42,349,0.00,1.10,0.00,0.000,260,0.000,0.049,1760,2372,3066,3066,4094,0,0,0,0,0,0,26.66,26.10,26.67,10.40,51.61
$STATE,417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,417,begin apogee
$GC,432,-0.45,0.0,1760,2119,3068,4095,55.4,-14.0,53,468,4.60,0.00,28.85,1.265,10244,0.055,0.000,2185,2118,2484,2484,4095,0,0,0,0,0,0,26.15,25.18,23.87,10.39,50.47
$STATE,469,end apogee,CONTROL_FINISHED_OK
$STATE,469,begin climb
$GC,476,1.80,487.5,2185,2117,2484,4095,60.1,0.0,57,520,7.62,0.00,28.45,1.245,11270,0.031,0.000,2902,2118,1917,1917,4094,0,0,0,0,0,0,25.72,25.92,23.49,10.28,49.68
$GC,563,1.80,487.5,2901,2117,1915,4094,54.1,12.1,67,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1915,1915,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.14,48.42
$GC,613,1.80,487.5,2901,2117,1914,4094,47.3,14.0,73,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1914,1914,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.14,48.46
$GC,664,1.80,487.5,2901,2117,1912,4094,40.8,12.5,79,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1912,1912,4094,0,0,0,0,0,0,26.12,26.14,26.13,10.13,48.97
$GC,713,1.80,487.5,2901,2117,1910,4094,34.4,12.7,85,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2117,1911,1911,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.13,49.21
$GC,764,1.80,487.5,2901,2117,1909,4094,27.6,13.7,91,772,0.00,1.00,0.00,0.000,516,0.000,0.048,2902,1732,1909,1909,4094,0,0,0,0,0,0,26.31,25.82,26.32,10.12,49.37
$GC,871,1.81,491.9,2901,1732,1907,4094,15.0,10.7,106,880,0.00,0.95,0.00,0.000,1030,0.000,0.031,2902,2124,1906,1906,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.18,51.22
$GC,921,1.83,502.6,2901,2124,1905,4094,9.7,10.6,112,930,0.00,0.00,2.33,0.129,8198,0.000,0.000,2902,2124,1896,1896,4094,0,0,0,0,0,0,26.47,24.41,23.75,10.20,52.83
$GC,970,1.83,502.6,2901,2124,1894,4094,4.2,10.8,118,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1894,1894,4094,0,0,0,0,0,0,26.51,26.52,26.51,10.20,52.75
$STATE,987,end climb,SURFACE_DEPTH_REACHED
$STATE,987,begin surface coast
$FINISH,0.2,1.024337
$STATE,1002,end surface coast,CONTROL_FINISHED_OK
$STATE,1002,begin surface
$SM_CCo,1112,0.00,0.000,0,0,1893,508.29
$SM_GC,1.03,27.73,0.40,0.00,0.021,0.045,0.000,238,1965,1893,-6.55,2.14,508.29,0,0,0,0,0,0,26.25,26.19,26.29
$IRIDIUM_FIX,5957.10,-16911.74,130917,213029
$TT8_MAMPS,0.025466,0.261401
$HUMID,53.03
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.49,82.419
$10V_AH,9.93,73.392
$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,46.300,6.800,59.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,360.131,59.900,118.934,509.410,135.789,0.000,308.609,0.000,299.654,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1234.710,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.104,331.591,262.202,389.158,507.880,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333712
$DATA_FILE_SIZE,10839,122
$CAP_FILE_SIZE,22869,0
$CFSIZE,1024409600,907624448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130917,234448,5913.560,-17033.736,5,0.8,26,8.6,0.9,142.6,10,5.0