version: 66.13
glider: 401
mission: 22
dive: 2688
start: 9 11 117 16 25 45
data:
$ID,401
$MISSION,22
$DIVE,2688
$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,28
$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
$GPS1,110917,154643,5928.9316,-17053.4629,6,0.8,18,8.4,0.0,283.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-1.9
$GPS2,110917,154643,5928.9316,-17053.4629,6,0.8,18,8.4,0.0,283.9,11,4.8
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5905.380,-17028.039
$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,142.6,49875,-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,-487.5,2384,1944,2385,4092,0.0,0.0,0,23,6.35,0.00,-2.05,0.000,20482,0.023,0.000,1764,1945,2600,2600,4094,0,0,0,0,0,0,26.21,28.83,26.27,10.32,54.48
$GC,30,-1.80,-487.5,1764,1944,2600,4094,0.0,0.0,1,39,0.00,0.00,-4.40,0.000,16390,0.000,0.000,1764,1943,3056,3056,4094,0,0,0,0,0,0,26.55,24.51,26.55,10.37,53.74
$GC,79,-1.80,-487.5,1763,1942,3057,4094,3.2,-10.9,7,88,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3058,3058,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.46,53.97
$GC,128,-1.80,-487.5,1764,1942,3059,4094,11.0,-17.3,13,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3059,3059,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.47,53.66
$GC,177,-1.80,-487.5,1763,1943,3061,4094,19.6,-18.0,19,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3061,3061,4094,0,0,0,0,0,0,26.56,26.57,26.57,10.47,53.93
$GC,226,-1.80,-487.5,1763,1943,3062,4094,27.1,-13.8,25,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3062,3062,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.44,53.81
$GC,274,-1.80,-487.5,1764,1943,3063,4095,33.3,-13.2,31,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3063,3063,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.41,53.15
$GC,323,-1.80,-487.5,1763,1943,3064,4095,39.8,-13.4,37,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3064,3064,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.39,51.53
$GC,372,-1.80,-487.5,1763,1943,3066,4095,46.7,-14.2,43,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3066,3066,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.38,51.18
$GC,420,-1.80,-487.5,1763,1943,3067,4094,53.9,-15.5,49,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1943,3068,3068,4095,0,0,0,0,0,0,26.66,26.67,26.67,10.38,50.00
$STATE,436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,436,begin apogee
$GC,451,-0.45,0.0,1764,2141,3068,4094,57.4,-15.2,51,487,4.55,0.00,28.85,1.290,10246,0.055,0.000,2186,2141,2483,2483,4094,0,0,0,0,0,0,26.17,25.18,23.87,10.38,49.56
$STATE,488,end apogee,CONTROL_FINISHED_OK
$STATE,488,begin climb
$GC,494,1.80,487.5,2186,2140,2483,4094,61.7,0.0,55,539,7.60,0.00,28.38,1.267,10246,0.031,0.000,2900,2141,1916,1916,4094,0,0,0,0,0,0,25.70,24.29,23.51,10.26,48.85
$GC,581,1.80,487.5,2900,2140,1915,4094,56.2,11.2,65,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1914,1914,4094,0,0,0,0,0,0,25.72,25.73,25.72,10.12,47.36
$GC,631,1.80,487.5,2900,2140,1914,4094,50.4,11.9,71,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2141,1914,1914,4094,0,0,0,0,0,0,25.93,25.94,25.94,10.11,47.75
$GC,682,1.80,487.5,2900,2140,1912,4094,43.8,13.3,77,691,0.00,1.12,0.00,0.000,516,0.000,0.047,2901,1716,1912,1912,4094,0,0,0,0,0,0,26.08,25.63,26.09,10.11,48.62
$GC,810,1.80,487.5,2900,1716,1908,4094,26.9,12.5,95,820,0.00,1.02,0.00,0.000,1030,0.000,0.031,2900,2133,1908,1908,4094,0,0,0,0,0,0,25.98,25.94,26.03,10.10,48.38
$GC,861,1.80,487.5,2900,2133,1907,4094,20.6,12.5,101,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2133,1906,1906,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.13,49.72
$GC,910,1.84,510.3,2900,2133,1906,4094,15.4,10.4,107,920,0.00,1.10,2.78,0.257,8708,0.000,0.044,2901,1716,1886,1886,4094,0,0,0,0,0,0,26.42,24.58,23.87,10.16,50.70
$GC,1019,1.84,510.3,2900,1715,1884,4094,3.6,11.5,122,1029,0.00,0.95,0.00,0.000,1030,0.000,0.030,2901,2111,1883,1883,4094,0,0,0,0,0,0,26.17,26.11,26.19,10.19,52.99
$STATE,1036,end climb,SURFACE_DEPTH_REACHED
$STATE,1037,begin surface coast
$FINISH,0.3,1.024322
$STATE,1053,end surface coast,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$SM_CCo,1164,0.00,0.000,0,0,1882,517.74
$SM_GC,1.00,27.80,0.40,0.00,0.019,0.037,0.000,231,1947,1882,-6.59,1.50,517.74,0,0,0,0,0,0,26.04,26.25,26.12
$IRIDIUM_FIX,5952.82,-17420.78,110917,142933
$TT8_MAMPS,0.025466,0.251664
$HUMID,53.34
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.51,78.550
$10V_AH,9.90,70.328
$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,46.300,5.550,60.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,362.590,59.979,133.875,525.645,154.461,0.000,346.342,0.000,308.212,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,46.665,1289.790,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.768,342.299,270.965,401.778,523.300,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333756
$DATA_FILE_SIZE,10843,126
$CAP_FILE_SIZE,25435,0
$CFSIZE,1024409600,887390208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110917,164614,5928.655,-17053.729,8,0.9,17,8.4,0.4,280.8,9,4.9