version: 66.13
glider: 401
mission: 22
dive: 2529
start: 9 8 117 23 40 31
data:
$ID,401
$MISSION,22
$DIVE,2529
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,080917,225959,5946.2432,-17125.9102,7,0.7,24,8.2,0.0,151.1,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-1.7
$GPS2,080917,225959,5946.2432,-17125.9102,7,0.7,24,8.2,0.0,151.1,11,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W24S
$TGT_LATLONG,5935.700,-17055.381
$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,116.1,34642,-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,-487.5,2336,1945,2489,4092,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.021,0.000,1783,1946,2489,2489,4094,0,0,0,0,0,0,26.49,28.83,28.83,10.35,53.81
$GC,26,-1.80,-487.5,1782,1945,2489,4094,2.1,0.0,1,33,0.00,0.00,-3.15,0.000,16390,0.000,0.000,1782,1945,3062,3062,4094,0,0,0,0,0,0,26.47,24.47,26.47,10.35,53.74
$GC,68,-1.80,-487.5,1781,1945,3063,4094,6.8,-13.4,7,74,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1945,3063,3063,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,53.89
$GC,110,-1.80,-487.5,1782,1945,3064,4095,13.6,-16.6,13,115,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1945,3065,3065,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.48,53.70
$GC,151,-1.80,-487.5,1781,1945,3066,4095,20.5,-16.8,19,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1945,3066,3066,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.47,53.58
$GC,192,-1.80,-487.5,1781,1945,3067,4095,27.1,-15.6,25,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1946,3067,3067,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.46,53.66
$GC,234,-1.80,-487.5,1781,1945,3068,4094,32.2,-12.1,31,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1946,3068,3068,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.42,53.26
$GC,275,-1.80,-487.5,1781,1946,3069,4095,37.5,-12.7,37,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1946,3069,3069,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.40,51.85
$GC,317,-1.80,-487.5,1781,1946,3070,4094,43.0,-13.2,43,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1945,3070,3070,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.38,51.41
$GC,358,-1.80,-487.5,1781,1946,3071,4095,48.8,-13.8,49,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,1946,3071,3071,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.38,50.70
$GC,400,-1.80,-487.5,1782,1946,3072,4094,54.7,-14.1,55,406,0.00,1.15,0.00,0.000,260,0.000,0.046,1782,2374,3073,3073,4095,0,0,0,0,0,0,26.63,26.15,26.64,10.38,49.88
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,425,-0.45,0.0,1782,2117,3073,4095,57.1,-13.8,57,462,4.35,0.00,28.88,1.276,10246,0.053,0.000,2184,2114,2484,2484,4095,0,0,0,0,0,0,26.15,25.21,23.96,10.37,49.56
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,469,1.80,487.5,2184,2113,2484,4095,61.0,0.0,63,510,7.62,0.00,28.30,1.252,10246,0.030,0.000,2901,2114,1915,1915,4094,0,0,0,0,0,0,25.67,24.73,23.58,10.24,48.89
$GC,546,1.80,487.5,2901,2113,1914,4094,55.1,12.2,75,553,0.00,1.00,0.00,0.000,516,0.000,0.047,2901,1737,1915,1915,4095,0,0,0,0,0,0,25.64,25.27,25.65,10.12,48.22
$GC,691,1.80,487.5,2901,1737,1911,4095,36.8,12.4,98,697,0.00,1.00,0.00,0.000,1030,0.000,0.030,2902,2143,1911,1911,4094,0,0,0,0,0,0,25.83,25.79,25.86,10.10,48.22
$GC,733,1.80,487.5,2901,2142,1909,4094,31.5,13.1,104,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.09,48.46
$GC,775,1.80,487.5,2901,2142,1908,4094,26.1,12.8,110,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2143,1908,1908,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.11,48.85
$GC,816,1.86,526.7,2901,2142,1907,4094,21.9,10.2,116,824,0.10,0.00,3.65,0.437,10246,0.073,0.000,2922,2143,1869,1869,4094,0,0,0,0,0,0,26.12,25.20,24.07,10.15,49.72
$GC,860,1.87,534.0,2922,2142,1868,4094,17.3,10.7,122,867,0.00,1.08,2.25,0.122,8708,0.000,0.044,2922,1735,1861,1861,4094,0,0,0,0,0,0,26.34,25.32,24.08,10.16,52.36
$GC,975,1.87,534.0,2922,1734,1858,4094,3.9,11.4,140,982,0.00,0.95,0.00,0.000,1030,0.000,0.029,2922,2129,1857,1857,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.18,54.44
$STATE,986,end climb,SURFACE_DEPTH_REACHED
$STATE,987,begin surface coast
$FINISH,0.4,1.024282
$STATE,1001,end surface coast,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$SM_CCo,1111,0.00,0.000,0,0,1856,540.06
$SM_GC,1.01,28.05,0.40,0.00,0.020,0.054,0.000,238,1976,1856,-6.55,2.51,540.06,0,0,0,0,0,0,26.20,26.09,26.23
$IRIDIUM_FIX,5955.74,-17228.01,080917,214418
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.29
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.58,73.960
$10V_AH,10.31,66.649
$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,45.775,6.675,63.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,389.231,285.268,153.016,209.059,146.190,0.000,312.405,0.000,218.777,0.000,0.541,0.000
$DEVICE_MAMPS,72.675,53.550,1276.020,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330744
$DATA_FILE_SIZE,10863,144
$CAP_FILE_SIZE,27106,0
$CFSIZE,1024409600,895205376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,000012,5945.713,-17125.846,4,0.7,23,8.2,0.4,333.4,11,4.9