version: 66.13
glider: 401
mission: 22
dive: 2493
start: 9 8 117 8 59 35
data:
$ID,401
$MISSION,22
$DIVE,2493
$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,36
$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
$GPS1,080917,082110,5949.8887,-17135.3125,6,0.8,16,8.1,0.0,80.5,10,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.5
$GPS2,080917,082110,5949.8887,-17135.3125,6,0.8,16,8.1,0.0,80.5,10,4.7
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,119.9,9834,-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,-487.5,2388,1958,2378,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.023,0.000,1838,1958,2377,2377,4095,0,0,0,0,0,0,26.46,28.83,28.83,10.33,53.22
$GC,26,-1.80,-487.5,1837,1958,2377,4095,0.0,0.0,1,39,0.55,1.25,-6.40,0.000,20996,0.037,1.238,1778,1526,3058,3058,4095,0,0,0,0,0,0,26.15,23.99,26.17,10.32,53.85
$GC,135,-1.80,-487.5,1778,1526,3061,4095,14.5,-16.9,18,142,0.00,1.00,0.00,0.000,1030,0.000,0.028,1778,1947,3061,3061,4095,0,0,0,0,0,0,26.16,26.13,26.19,10.48,53.38
$GC,177,-1.80,-487.5,1777,1946,3062,4095,21.8,-17.5,24,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1947,3062,3062,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.49,53.78
$GC,219,-1.80,-487.5,1777,1946,3063,4094,27.8,-12.3,30,225,0.00,1.10,0.00,0.000,260,0.000,0.045,1777,2371,3064,3064,4094,0,0,0,0,0,0,26.51,26.03,26.52,10.45,53.30
$GC,297,-1.80,-487.5,1777,2371,3065,4094,37.6,-13.0,42,303,0.00,1.00,0.00,0.000,1030,0.000,0.030,1778,1975,3065,3065,4094,0,0,0,0,0,0,26.23,26.20,26.25,10.39,51.26
$GC,339,-1.80,-487.5,1777,1975,3067,4094,43.2,-13.7,48,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1974,3066,3066,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.38,50.27
$GC,381,-1.80,-487.5,1777,1975,3067,4095,48.9,-13.6,54,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1975,3067,3067,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.38,49.88
$GC,422,-1.80,-487.5,1777,1975,3068,4094,54.7,-14.2,60,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1975,3068,3068,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.38,49.40
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,433,begin apogee
$GC,446,-0.45,0.0,1778,2147,3069,4094,57.0,-14.0,62,482,4.38,0.00,28.62,1.271,10244,0.053,0.000,2184,2148,2484,2484,4094,0,0,0,0,0,0,26.13,25.22,23.99,10.37,49.09
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,484,begin climb
$GC,490,1.80,487.5,2184,2148,2483,4094,60.9,0.0,68,531,7.62,0.00,28.17,1.248,11270,0.030,0.000,2900,2148,1916,1916,4094,0,0,0,0,0,0,25.65,25.86,23.62,10.24,48.26
$GC,567,1.80,487.5,2899,2148,1915,4094,55.1,11.6,80,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1915,1915,4094,0,0,0,0,0,0,25.63,25.65,25.64,10.12,47.95
$GC,609,1.80,487.5,2900,2148,1914,4094,49.9,12.5,86,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1914,1914,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.11,47.16
$GC,650,1.80,487.5,2900,2148,1913,4094,44.6,12.7,92,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2148,1912,1912,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.11,47.67
$GC,692,1.80,487.5,2900,2148,1911,4094,39.4,12.5,98,698,0.00,1.17,0.00,0.000,516,0.000,0.046,2900,1708,1911,1911,4094,0,0,0,0,0,0,26.07,25.64,26.08,10.10,47.87
$GC,806,1.80,487.5,2900,1708,1908,4094,25.2,12.4,116,813,0.00,1.00,0.00,0.000,1030,0.000,0.029,2900,2118,1908,1908,4094,0,0,0,0,0,0,25.96,25.94,25.99,10.10,48.97
$GC,849,1.98,603.1,2900,2117,1907,4094,21.2,9.0,122,862,0.50,0.00,7.53,0.685,10246,0.031,0.000,2955,2118,1781,1781,4094,0,0,0,0,0,0,26.08,25.35,24.31,10.15,50.07
$GC,898,1.98,603.1,2955,2118,1779,4094,15.5,12.1,129,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2118,1779,1779,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.15,51.89
$GC,939,1.98,603.1,2955,2117,1778,4094,10.4,13.1,135,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2118,1777,1777,4094,0,0,0,0,0,0,26.32,26.34,26.33,10.16,52.63
$GC,980,1.98,603.1,2954,2117,1776,4094,5.0,13.4,141,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2118,1776,1776,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.17,53.34
$STATE,1003,end climb,SURFACE_DEPTH_REACHED
$STATE,1004,begin surface coast
$FINISH,0.1,1.001988
$STATE,1017,end surface coast,CONTROL_FINISHED_OK
$STATE,1017,begin surface
$SM_CCo,1128,0.00,0.000,0,0,1774,609.61
$SM_GC,0.87,28.58,0.45,0.00,0.019,0.037,0.000,230,1935,1774,-6.59,0.96,609.61,0,0,0,0,0,0,25.94,26.13,26.03
$IRIDIUM_FIX,5955.74,-17228.01,080917,070403
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.93
$INTERNAL_PRESSURE,10.1211
$TCM_TEMP,3.20
$XPDR_PINGS,0
$24V_AH,23.62,72.899
$10V_AH,10.30,65.819
$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,47.250,7.950,64.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,392.032,288.371,161.258,213.719,144.432,0.000,324.939,0.000,223.029,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1237.770,1271.430,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.431,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10846,147
$CAP_FILE_SIZE,27598,0
$CFSIZE,1024409600,896974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,091933,5949.415,-17133.963,4,0.8,23,8.1,0.4,358.6,10,4.5