version: 66.13
glider: 401
mission: 22
dive: 2352
start: 9 6 117 1 20 25
data:
$ID,401
$MISSION,22
$DIVE,2352
$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,38
$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
$GPS1,060917,004141,5956.1558,-17219.7266,8,0.9,19,7.7,0.5,316.6,9,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-4.6
$GPS2,060917,004141,5956.1558,-17219.7266,8,0.9,19,7.7,0.5,316.6,9,4.7
$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,102.1,52230,-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,11,-1.80,-487.5,2385,1943,2375,4092,0.0,0.0,0,21,6.32,0.00,-1.20,0.000,20482,0.018,0.000,1761,1943,2506,2506,4095,0,0,0,0,0,0,26.22,28.83,26.27,10.35,53.97
$GC,28,-1.80,-487.5,1760,1943,2506,4095,0.0,0.0,1,37,0.00,0.00,-5.22,0.000,16390,0.000,0.000,1760,1943,3057,3057,4095,0,0,0,0,0,0,26.49,24.51,26.50,10.38,54.37
$GC,77,-1.80,-487.5,1760,1943,3058,4095,3.8,-12.6,7,85,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3058,3058,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.50,54.05
$GC,125,-1.80,-487.5,1760,1943,3060,4095,11.7,-16.7,13,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1944,3059,3059,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.50,53.85
$GC,173,-1.80,-487.5,1760,1943,3061,4094,20.2,-17.7,19,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3061,3061,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.51,53.46
$GC,221,-1.80,-487.5,1760,1943,3062,4094,28.6,-17.4,25,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3063,3063,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.51,53.38
$GC,269,-1.80,-487.5,1759,1943,3064,4095,35.0,-12.8,31,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.45,52.99
$GC,318,-1.80,-487.5,1760,1943,3065,4095,41.3,-12.9,37,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1944,3065,3065,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.42,51.81
$GC,365,-1.80,-487.5,1760,1943,3067,4095,47.6,-13.1,43,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3067,3067,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.41,50.27
$GC,413,-1.80,-487.5,1760,1943,3067,4095,54.4,-14.0,49,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1944,3068,3068,4094,0,0,0,0,0,0,26.63,26.65,26.64,10.40,49.64
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,442,-0.45,0.0,1760,2132,3068,4094,57.4,-14.4,51,483,4.57,0.00,28.33,1.281,10246,0.054,0.000,2184,2133,2487,2487,4094,0,0,0,0,0,0,26.15,24.96,24.11,10.39,49.05
$STATE,484,end apogee,CONTROL_FINISHED_OK
$STATE,484,begin climb
$GC,490,1.80,487.5,2184,2132,2488,4094,62.2,0.0,56,535,7.60,0.00,28.20,1.261,10246,0.029,0.000,2902,2133,1918,1918,4094,0,0,0,0,0,0,25.70,24.49,23.72,10.26,47.99
$GC,576,1.80,487.5,2901,2132,1917,4094,56.1,12.0,66,585,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1703,1917,1917,4094,0,0,0,0,0,0,25.70,25.32,25.71,10.14,46.81
$GC,677,1.80,487.5,2902,1703,1914,4094,42.3,13.3,80,686,0.00,1.08,0.00,0.000,1030,0.000,0.030,2902,2136,1914,1914,4094,0,0,0,0,0,0,25.76,25.72,25.78,10.12,47.08
$GC,726,1.80,487.5,2902,2135,1912,4094,35.4,14.5,86,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1912,1912,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.12,47.55
$GC,774,1.80,487.5,2902,2135,1912,4094,28.5,14.3,92,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1911,1911,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.12,47.87
$GC,823,1.80,487.5,2902,2135,1909,4094,23.1,11.1,98,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2135,1909,1909,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.18,49.52
$GC,871,1.80,487.5,2902,2135,1908,4094,17.6,11.2,104,880,0.00,1.12,0.00,0.000,516,0.000,0.045,2902,1709,1908,1908,4094,0,0,0,0,0,0,26.34,25.89,26.36,10.19,51.02
$GC,992,1.80,487.5,2902,1709,1905,4094,3.8,12.3,121,1001,0.00,1.05,0.00,0.000,1030,0.000,0.031,2902,2136,1904,1904,4094,0,0,0,0,0,0,26.11,26.08,26.16,10.22,53.78
$STATE,1010,end climb,SURFACE_DEPTH_REACHED
$STATE,1010,begin surface coast
$FINISH,0.0,1.024180
$STATE,1025,end surface coast,CONTROL_FINISHED_OK
$STATE,1025,begin surface
$SM_CCo,1134,0.00,0.000,0,0,1903,499.71
$SM_GC,0.75,27.67,0.50,0.00,0.020,0.040,0.000,238,1936,1903,-6.55,0.96,499.71,0,0,0,0,0,0,26.22,26.15,26.25
$IRIDIUM_FIX,5953.06,-17035.79,060917,003408
$TT8_MAMPS,0.024717,0.25466
$HUMID,53.34
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.72,68.942
$10V_AH,10.07,62.650
$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,46.175,5.925,56.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,353.405,60.507,136.858,517.577,136.969,0.000,348.257,0.000,305.745,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,45.900,1281.375,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.119,339.660,268.733,398.509,516.385,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10845,125
$CAP_FILE_SIZE,25203,0
$CFSIZE,1024409600,903872512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,014022,5956.400,-17219.117,5,0.9,17,7.7,0.0,306.2,10,4.8