version: 66.13
glider: 401
mission: 22
dive: 2388
start: 9 6 117 15 31 50
data:
$ID,401
$MISSION,22
$DIVE,2388
$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,19
$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
$GPS1,060917,145244,5954.0923,-17208.4766,5,0.9,19,7.8,0.5,299.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-1.7
$GPS2,060917,145244,5954.0923,-17208.4766,5,0.9,19,7.8,0.5,299.3,9,4.9
$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,101.9,41068,-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,-487.5,2384,1952,2377,4092,0.0,0.0,0,23,6.40,0.00,-2.03,0.000,20482,0.024,0.000,1762,1954,2587,2587,4094,0,0,0,0,0,0,26.20,28.83,26.25,10.34,54.05
$GC,29,-1.80,-487.5,1762,1953,2587,4094,0.0,0.0,1,40,0.00,1.25,-4.62,0.000,16900,0.000,1.243,1762,1513,3055,3055,4095,0,0,0,0,0,0,26.50,24.10,26.51,10.38,53.81
$GC,146,-1.80,-487.5,1761,1513,3058,4095,13.5,-17.9,17,155,0.00,1.05,0.00,0.000,1030,0.000,0.028,1762,1953,3059,3059,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.49,54.44
$GC,197,-1.80,-487.5,1761,1953,3060,4094,22.5,-18.3,23,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1953,3060,3060,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.50,53.74
$GC,246,-1.80,-487.5,1761,1954,3062,4095,30.7,-14.9,29,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1954,3062,3062,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.46,53.85
$GC,295,-1.80,-487.5,1761,1954,3063,4095,37.3,-13.6,35,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1954,3063,3063,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.42,51.96
$GC,345,-1.80,-487.5,1761,1954,3064,4094,44.0,-14.4,41,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1954,3064,3064,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.40,50.78
$GC,395,-1.80,-487.5,1761,1954,3066,4095,50.9,-14.5,47,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1954,3066,3066,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.39,49.68
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,417,begin apogee
$GC,430,-0.45,0.0,1762,2143,3066,4094,55.3,-14.3,50,473,4.57,0.00,28.48,1.256,10244,0.054,0.000,2185,2143,2483,2483,4094,0,0,0,0,0,0,26.14,24.91,24.10,10.38,49.29
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,480,1.80,487.5,2185,2143,2484,4094,59.7,0.0,55,524,7.55,1.15,28.20,1.235,10756,0.030,0.042,2901,1705,1915,1915,4094,0,0,0,0,0,0,25.62,25.54,23.71,10.26,48.26
$GC,608,1.80,487.5,2901,1704,1913,4094,47.6,14.3,71,618,0.00,1.08,0.00,0.000,1030,0.000,0.028,2901,2137,1913,1913,4094,0,0,0,0,0,0,25.60,25.55,25.62,10.12,47.04
$GC,657,1.80,487.5,2900,2136,1911,4094,40.7,13.3,77,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2137,1910,1910,4095,0,0,0,0,0,0,26.01,26.03,26.03,10.12,47.24
$GC,706,1.80,487.5,2901,2136,1910,4095,34.2,13.3,83,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2137,1909,1909,4094,0,0,0,0,0,0,26.13,26.14,26.13,10.11,47.51
$GC,754,1.80,487.5,2901,2136,1908,4094,27.9,13.2,89,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1908,1908,4095,0,0,0,0,0,0,26.20,26.22,26.22,10.11,47.51
$GC,803,1.83,503.3,2901,2137,1907,4095,22.2,10.5,95,813,0.00,1.12,2.40,0.174,8708,0.000,0.044,2902,1709,1896,1896,4094,0,0,0,0,0,0,26.27,24.73,24.01,10.16,49.17
$GC,931,1.83,503.3,2901,1709,1893,4094,7.8,11.9,113,940,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2132,1893,1893,4095,0,0,0,0,0,0,26.09,26.04,26.13,10.20,52.40
$GC,982,1.90,549.9,2901,2131,1891,4095,2.6,10.1,119,992,0.22,0.00,4.07,0.372,10246,0.044,0.000,2933,2132,1841,1841,4094,0,0,0,0,0,0,26.19,25.37,24.44,10.21,52.91
$STATE,1000,end climb,SURFACE_DEPTH_REACHED
$STATE,1000,begin surface coast
$FINISH,-0.1,1.024211
$STATE,1021,end surface coast,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$SM_CCo,1131,0.00,0.000,0,0,1840,553.80
$SM_GC,0.83,28.27,0.50,0.00,0.019,0.047,0.000,231,1942,1840,-6.59,0.91,553.80,0,0,0,0,0,0,25.94,26.06,26.03
$IRIDIUM_FIX,5955.74,-17228.01,060917,133639
$TT8_MAMPS,0.025466,0.245672
$HUMID,53.26
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.71,69.948
$10V_AH,10.05,63.460
$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,47.025,8.100,63.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,361.779,61.114,130.731,514.476,133.780,0.000,332.987,0.000,303.575,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,1243.125,1256.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.598,336.902,266.620,395.488,513.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330772
$DATA_FILE_SIZE,10902,124
$CAP_FILE_SIZE,25005,0
$CFSIZE,1024409600,902103040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,155202,5954.129,-17207.494,34,0.9,35,7.8,0.7,192.2,11,4.4