version: 66.13
glider: 401
mission: 22
dive: 2391
start: 9 6 117 16 41 37
data:
$ID,401
$MISSION,22
$DIVE,2391
$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,21
$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
$GPS1,060917,160252,5954.1694,-17207.4883,5,0.7,18,7.8,0.0,248.1,11,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-2.8
$GPS2,060917,160252,5954.1694,-17207.4883,5,0.7,18,7.8,0.0,248.1,11,4.7
$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,102.5,40251,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,2387,1961,2372,4092,0.0,0.0,0,20,5.70,0.00,0.00,0.000,4097,0.019,0.000,1829,1961,2372,2372,4094,0,0,0,0,0,0,26.43,28.83,28.83,10.33,53.34
$GC,26,-1.80,-487.5,1829,1961,2372,4094,0.0,0.0,1,39,0.45,0.00,-6.68,0.000,20486,0.039,0.000,1779,1961,3055,3055,4095,0,0,0,0,0,0,26.12,24.48,26.15,10.34,53.81
$GC,75,-1.80,-487.5,1779,1961,3056,4095,-0.0,0.0,8,81,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1961,3056,3056,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.48,53.66
$GC,116,-1.80,-487.5,1779,1961,3056,4094,3.7,-13.0,14,123,0.00,1.15,0.00,0.000,516,0.000,0.054,1779,1516,3056,3056,4095,0,0,0,0,0,0,26.43,25.94,26.44,10.49,53.70
$GC,254,-1.80,-487.5,1779,1516,3061,4095,26.9,-14.2,36,260,0.00,1.20,0.00,0.000,1030,0.000,0.028,1779,2016,3061,3061,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.46,53.97
$GC,296,-1.80,-487.5,1779,2015,3062,4094,32.2,-12.9,42,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2015,3062,3062,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.42,52.40
$GC,337,-1.80,-487.5,1779,2015,3063,4094,37.5,-12.7,48,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2015,3063,3063,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.40,51.29
$GC,379,-1.80,-487.5,1779,2015,3064,4094,43.3,-14.3,54,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,2015,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.39,51.18
$GC,420,-1.80,-487.5,1779,2015,3065,4095,48.7,-13.1,60,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2015,3065,3065,4095,0,0,0,0,0,0,26.59,26.61,26.60,10.38,50.63
$GC,461,-1.80,-487.5,1779,2015,3066,4095,54.6,-13.4,66,467,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,2015,3066,3066,4094,0,0,0,0,0,0,26.61,26.62,26.62,10.38,50.15
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,485,-0.45,0.0,1779,2146,3067,4094,56.8,-14.1,68,521,4.40,0.00,28.42,1.270,10244,0.052,0.000,2187,2147,2484,2484,4095,0,0,0,0,0,0,26.13,25.27,24.07,10.38,49.09
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$GC,528,1.80,487.5,2187,2146,2483,4095,60.5,0.0,74,569,7.57,0.00,28.12,1.245,11270,0.030,0.000,2900,2147,1915,1915,4094,0,0,0,0,0,0,25.66,25.85,23.70,10.25,48.42
$GC,605,1.80,487.5,2899,2146,1915,4094,55.0,11.5,86,612,0.00,1.17,0.00,0.000,516,0.000,0.044,2900,1709,1915,1915,4094,0,0,0,0,0,0,25.63,25.25,25.64,10.12,47.48
$GC,696,1.80,487.5,2900,1708,1912,4094,43.9,11.9,100,702,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2124,1912,1912,4095,0,0,0,0,0,0,25.70,25.66,25.72,10.11,48.22
$GC,738,1.80,487.5,2900,2124,1911,4095,38.5,12.9,106,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1911,1911,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.10,47.83
$GC,779,1.80,487.5,2900,2124,1910,4094,33.4,12.3,112,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1910,1910,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.10,48.54
$GC,820,1.80,487.5,2900,2124,1908,4094,28.2,12.3,118,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1908,1908,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.09,48.42
$GC,861,1.80,487.5,2900,2124,1908,4094,23.4,11.5,124,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2124,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.13,48.85
$GC,903,1.87,529.7,2900,2124,1907,4094,19.3,10.1,130,911,0.12,1.10,3.75,0.434,10756,0.065,0.045,2923,1706,1866,1866,4094,0,0,0,0,0,0,26.10,25.43,24.25,10.16,50.43
$GC,1045,1.87,529.7,2923,1705,1862,4094,2.7,12.4,152,1052,0.00,1.02,0.00,0.000,1030,0.000,0.031,2923,2124,1861,1861,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.19,53.97
$STATE,1057,end climb,SURFACE_DEPTH_REACHED
$STATE,1057,begin surface coast
$FINISH,0.3,1.024218
$STATE,1071,end surface coast,CONTROL_FINISHED_OK
$STATE,1071,begin surface
$SM_CCo,1180,0.00,0.000,0,0,1860,536.62
$SM_GC,0.60,28.05,0.47,0.00,0.019,0.041,0.000,238,1938,1860,-6.55,0.87,536.62,0,0,0,0,0,0,26.18,26.12,26.22
$IRIDIUM_FIX,5953.06,-17035.79,060917,144723
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.44
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.70,70.030
$10V_AH,10.31,63.518
$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,46.300,7.925,60.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,415.111,308.058,156.322,227.010,144.108,0.000,324.746,0.000,235.720,0.000,0.542,0.000
$DEVICE_MAMPS,65.025,54.315,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.684,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10851,156
$CAP_FILE_SIZE,28071,0
$CFSIZE,1024409600,901955584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,170216,5954.168,-17206.156,5,0.8,13,7.8,0.0,0.0,10,4.7