version: 66.13
glider: 401
mission: 22
dive: 2253
start: 9 4 117 9 52 56
data:
$ID,401
$MISSION,22
$DIVE,2253
$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,31
$R_STBD_OVSHOOT,25
$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
$GPS1,040917,091439,6004.0210,-17241.3730,8,1.1,53,7.5,0.2,232.4,7,3.2
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-1.8
$GPS2,040917,091439,6004.0210,-17241.3730,8,1.1,53,7.5,0.2,232.4,7,3.2
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$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,115.3,34653,-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,11,-1.80,-487.5,2390,1948,2365,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.022,0.000,1836,1948,2366,2366,4094,0,0,0,0,0,0,26.47,28.83,28.83,10.39,51.29
$GC,25,-1.80,-487.5,1836,1947,2365,4094,0.0,0.0,1,37,0.65,0.00,-6.30,0.000,20742,0.030,0.000,1763,1947,3057,3057,4094,0,0,0,0,0,0,26.20,24.56,26.22,10.39,51.45
$GC,73,-1.80,-487.5,1762,1948,3057,4094,0.7,-3.0,8,79,0.00,1.08,0.00,0.000,516,0.000,0.051,1762,1524,3057,3057,4094,0,0,0,0,0,0,26.42,25.98,26.44,10.54,52.04
$GC,138,-1.80,-487.5,1762,1524,3059,4094,11.8,-18.7,18,145,0.00,1.02,0.00,0.000,1030,0.000,0.026,1762,1956,3059,3059,4095,0,0,0,0,0,0,26.21,26.19,26.23,10.55,51.41
$GC,180,-1.80,-487.5,1762,1956,3061,4095,19.7,-19.8,24,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1956,3061,3061,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.55,51.89
$GC,221,-1.80,-487.5,1762,1955,3062,4095,26.7,-16.7,30,228,0.00,1.10,0.00,0.000,260,0.000,0.044,1762,2379,3062,3062,4095,0,0,0,0,0,0,26.53,26.09,26.54,10.54,51.26
$GC,275,-1.80,-487.5,1762,2378,3064,4095,35.5,-16.1,38,281,0.00,1.05,0.00,0.000,1030,0.000,0.028,1762,1954,3064,3064,4095,0,0,0,0,0,0,26.24,26.21,26.27,10.53,51.49
$GC,317,-1.80,-487.5,1762,1954,3065,4095,42.2,-15.6,44,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3066,3066,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.52,50.63
$GC,358,-1.80,-487.5,1762,1954,3066,4094,48.8,-16.6,50,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1955,3066,3066,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.51,50.74
$STATE,393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,393,begin apogee
$GC,406,-0.45,0.0,1762,2146,3068,4094,55.1,-14.7,56,442,4.55,0.00,28.12,1.223,10244,0.054,0.000,2186,2146,2484,2484,4095,0,0,0,0,0,0,26.16,25.37,24.27,10.50,50.31
$STATE,443,end apogee,CONTROL_FINISHED_OK
$STATE,443,begin climb
$GC,449,1.80,487.5,2185,2146,2484,4095,58.7,0.0,62,490,7.53,0.00,27.85,1.204,11270,0.030,0.000,2900,2146,1915,1915,4094,0,0,0,0,0,0,25.72,25.89,23.91,10.37,49.68
$GC,526,1.80,487.5,2899,2146,1914,4094,52.6,12.8,74,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1914,1914,4094,0,0,0,0,0,0,25.70,25.72,25.72,10.25,47.99
$GC,567,1.80,487.5,2899,2146,1913,4094,47.1,13.3,80,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1912,1912,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.25,48.26
$GC,608,1.80,487.5,2899,2146,1912,4094,41.9,12.4,86,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1911,1911,4094,0,0,0,0,0,0,26.03,26.04,26.04,10.24,48.18
$GC,649,1.80,487.5,2899,2146,1911,4094,36.9,12.2,92,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1911,1911,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.25,48.70
$GC,690,1.80,487.5,2899,2146,1909,4094,31.8,12.2,98,696,0.00,1.12,0.00,0.000,516,0.000,0.043,2900,1718,1909,1909,4094,0,0,0,0,0,0,26.21,25.80,26.22,10.25,49.13
$GC,869,1.83,506.8,2899,1717,1904,4094,11.2,10.5,126,876,0.00,1.00,2.45,0.164,9222,0.000,0.028,2900,2133,1891,1891,4094,0,0,0,0,0,0,26.13,26.10,24.37,10.27,50.82
$GC,911,1.83,506.8,2898,2133,1890,4094,5.9,11.7,132,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1890,1890,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.29,51.85
$STATE,947,end climb,SURFACE_DEPTH_REACHED
$STATE,947,begin surface coast
$FINISH,0.2,1.024110
$STATE,966,end surface coast,CONTROL_FINISHED_OK
$STATE,966,begin surface
$SM_CCo,1074,0.00,0.000,0,0,1889,511.73
$SM_GC,0.82,27.65,0.47,0.00,0.019,0.045,0.000,230,1956,1889,-6.59,1.32,511.73,0,0,0,0,0,0,25.94,26.14,26.06
$IRIDIUM_FIX,5955.74,-17228.01,040917,075923
$TT8_MAMPS,0.025466,0.110103
$HUMID,51.49
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,23.91,66.010
$10V_AH,10.38,60.406
$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,45.975,7.775,58.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.797,284.209,148.107,206.230,126.602,0.000,303.579,0.000,214.462,0.000,0.544,0.000
$DEVICE_MAMPS,54.315,51.255,1223.235,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330664
$DATA_FILE_SIZE,10835,141
$CAP_FILE_SIZE,25885,0
$CFSIZE,1024409600,908771328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,101152,6003.646,-17240.967,4,0.9,17,7.5,0.0,264.3,11,5.0