version: 66.13
glider: 401
mission: 22
dive: 2895
start: 9 15 117 4 33 32
data:
$ID,401
$MISSION,22
$DIVE,2895
$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,24
$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
$GPS1,150917,035416,5902.4761,-17025.6211,6,0.7,14,8.6,0.0,218.8,12,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.18
$_SM_ANGLEo,-0.9
$GPS2,150917,035416,5902.4761,-17025.6211,6,0.7,14,8.6,0.0,218.8,12,5.0
$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,146.5,64010,-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,4,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2379,1951,2385,4092,0.0,0.0,0,25,6.28,0.00,-4.78,0.000,20482,0.020,0.000,1761,1951,2885,2885,4095,0,0,0,0,0,0,26.20,28.83,26.22,10.32,52.71
$GC,32,-1.80,-487.5,1761,1950,2885,4095,0.0,-1.1,2,39,0.00,0.00,-1.65,0.000,16390,0.000,0.000,1761,1943,3057,3057,4095,0,0,0,0,0,0,26.49,24.41,26.44,10.43,52.99
$GC,75,-1.80,-487.5,1761,1947,3058,4095,3.5,-12.1,8,81,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3058,3058,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.47,53.58
$GC,117,-1.80,-487.5,1761,1947,3059,4094,10.1,-16.4,14,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3059,3059,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.48,53.11
$GC,158,-1.80,-487.5,1761,1947,3060,4094,17.3,-17.7,20,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3061,3061,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.48,52.79
$GC,200,-1.80,-487.5,1761,1947,3062,4095,24.8,-17.5,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3062,3062,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.46,52.95
$GC,242,-1.80,-487.5,1761,1947,3063,4095,31.2,-14.8,32,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3063,3063,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.43,52.79
$GC,283,-1.80,-487.5,1761,1947,3064,4095,37.3,-14.8,38,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.42,51.53
$GC,325,-1.80,-487.5,1761,1947,3066,4095,43.3,-14.4,44,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3065,3065,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.41,50.98
$GC,367,-1.80,-487.5,1761,1947,3066,4095,49.2,-14.4,50,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3066,3066,4094,0,0,0,0,0,0,26.64,26.65,26.65,10.40,50.35
$STATE,402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,402,begin apogee
$GC,417,-0.45,0.0,1761,2142,3068,4095,55.1,-14.0,56,453,4.60,0.00,28.65,1.255,10246,0.054,0.000,2187,2142,2484,2484,4094,0,0,0,0,0,0,26.13,25.15,23.84,10.40,51.14
$STATE,454,end apogee,CONTROL_FINISHED_OK
$STATE,454,begin climb
$GC,461,1.80,487.5,2186,2141,2484,4094,59.1,0.0,62,502,7.53,0.00,28.25,1.233,10246,0.029,0.000,2900,2142,1916,1916,4094,0,0,0,0,0,0,25.71,24.68,23.46,10.28,50.07
$GC,538,1.80,487.5,2900,2141,1915,4094,53.0,12.8,74,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1915,1915,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.15,48.50
$GC,580,1.80,487.5,2900,2141,1914,4094,47.4,13.8,80,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1914,1914,4095,0,0,0,0,0,0,25.91,25.93,25.92,10.15,48.81
$GC,622,1.80,487.5,2900,2141,1912,4095,41.7,13.4,86,629,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1711,1912,1912,4094,0,0,0,0,0,0,26.06,25.61,26.07,10.14,48.62
$GC,731,1.80,487.5,2900,1711,1909,4094,27.7,12.7,103,737,0.00,1.02,0.00,0.000,1030,0.000,0.030,2901,2130,1909,1909,4094,0,0,0,0,0,0,25.96,25.93,25.99,10.13,49.17
$GC,773,1.80,487.5,2900,2130,1908,4094,22.7,12.0,109,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1908,1908,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.14,49.68
$GC,815,1.80,487.5,2900,2129,1907,4094,18.1,11.0,115,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1907,1907,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.17,50.35
$GC,857,1.80,487.5,2900,2130,1906,4095,13.5,11.1,121,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1905,1905,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.19,51.41
$GC,899,1.82,496.6,2900,2129,1904,4095,9.0,10.6,127,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1904,1904,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.18,52.20
$GC,941,1.95,583.7,2900,2130,1903,4094,4.9,9.5,133,954,0.40,0.00,6.38,0.514,10246,0.033,0.000,2946,2130,1802,1802,4094,0,0,0,0,0,0,26.26,24.82,24.22,10.20,53.11
$STATE,959,end climb,SURFACE_DEPTH_REACHED
$STATE,959,begin surface coast
$FINISH,0.1,1.024339
$STATE,973,end surface coast,CONTROL_FINISHED_OK
$STATE,973,begin surface
$SM_CCo,1084,0.00,0.000,0,0,1800,588.14
$SM_GC,0.84,28.15,0.47,0.00,0.018,0.044,0.000,239,1944,1800,-6.55,1.14,588.14,0,0,0,0,0,0,26.20,26.11,26.24
$IRIDIUM_FIX,5957.10,-16911.74,150917,024107
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.11
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.46,84.491
$10V_AH,10.28,75.046
$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,46.950,3.575,63.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,368.680,264.029,163.689,200.729,158.957,0.000,323.190,0.000,210.016,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,45.900,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,10809,138
$CAP_FILE_SIZE,26883,0
$CFSIZE,1024409600,903954432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150917,045301,5901.516,-17025.234,8,0.8,37,8.6,0.9,209.0,10,4.5