version: 66.13
glider: 401
mission: 22
dive: 2422
start: 9 7 117 5 7 20
data:
$ID,401
$MISSION,22
$DIVE,2422
$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,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
$GPS1,070917,045251,5953.2432,-17158.0098,2,0.8,38,7.9,0.7,33.3,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-40.0
$GPS2,070917,050641,5953.2773,-17157.9121,10,0.8,16,7.9,0.8,15.8,11,5.0
$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,105.3,31344,-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,-487.5,230,1952,1846,4092,0.0,0.0,0,22,8.45,0.00,0.00,0.000,2049,0.086,0.000,949,1945,1846,1846,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.27,52.16
$GC,28,-1.80,-487.5,949,1945,1846,4094,0.6,0.0,1,56,8.77,1.15,-11.68,0.000,18948,0.053,1.216,1752,1524,3056,3056,4095,0,0,0,0,0,0,25.82,23.80,25.89,10.27,51.85
$GC,244,-1.80,-487.5,1752,1524,3061,4095,28.6,-13.9,31,254,0.00,1.02,0.00,0.000,1030,0.000,0.025,1752,1961,3061,3061,4094,0,0,0,0,0,0,26.12,26.10,26.13,10.49,51.14
$GC,294,-1.80,-487.5,1752,1961,3062,4094,35.0,-13.2,37,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1961,3062,3062,4094,0,0,0,0,0,0,26.45,26.47,26.46,10.45,49.52
$GC,343,-1.80,-487.5,1752,1960,3063,4094,41.6,-13.9,43,352,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1961,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.43,48.30
$GC,393,-1.80,-487.5,1752,1961,3064,4095,48.8,-14.2,49,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1961,3064,3064,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.42,47.67
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,443,-0.45,0.0,1752,2145,3066,4095,55.2,-14.8,54,486,4.68,0.00,28.48,1.262,10244,0.054,0.000,2184,2145,2484,2484,4094,0,0,0,0,0,0,26.05,24.84,23.99,10.40,46.92
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2184,2145,2484,4094,59.7,0.0,59,536,7.62,0.00,28.08,1.239,11270,0.030,0.000,2900,2145,1919,1919,4094,0,0,0,0,0,0,25.64,25.84,23.64,10.28,46.77
$GC,578,1.80,487.5,2900,2145,1918,4094,53.5,12.0,69,587,0.00,1.12,0.00,0.000,516,0.000,0.043,2901,1722,1918,1918,4094,0,0,0,0,0,0,25.67,25.28,25.68,10.15,45.62
$GC,731,1.80,487.5,2900,1722,1913,4094,32.5,13.8,91,741,0.00,0.98,0.00,0.000,1030,0.000,0.029,2901,2122,1913,1913,4094,0,0,0,0,0,0,25.85,25.82,25.89,10.12,46.37
$GC,781,1.80,487.5,2900,2122,1912,4094,25.7,13.6,97,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1912,1912,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.12,46.29
$GC,829,1.80,487.5,2900,2122,1911,4094,19.8,11.4,103,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2123,1910,1910,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.18,47.87
$GC,878,1.82,500.2,2900,2122,1909,4094,14.5,10.6,109,888,0.00,0.00,2.33,0.138,8198,0.000,0.000,2900,2122,1900,1900,4094,0,0,0,0,0,0,26.34,24.68,24.02,10.20,49.96
$GC,927,1.82,500.2,2900,2122,1898,4094,8.6,12.2,115,937,0.00,1.08,0.00,0.000,516,0.000,0.044,2900,1713,1897,1897,4094,0,0,0,0,0,0,26.39,25.92,26.39,10.21,51.61
$STATE,985,end climb,FINISH_DEPTH_REACHED
$STATE,985,begin subsurface finish
$FINISH1,1.4,1.024223,96
$GC,1001,0.14,96.0,2900,2139,1896,4094,1.4,11.1,123,1019,5.22,0.00,-4.50,0.000,20486,0.021,0.000,2388,2148,2377,2377,4095,0,0,0,0,0,0,26.15,25.46,26.20,10.23,52.08
$FINISH2,0.0
$STATE,1019,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1020,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,045732
$TT8_MAMPS,0.025466,0.23968
$HUMID,52.16
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.64,70.922
$10V_AH,10.00,64.229
$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,34.750,6.850,58.875,0.000,0.000,50.921,46.014,355.695,0.000,0.000,17.702,355.072,45.281,107.249,933.164,411.954,0.000,316.541,0.000,309.235,0.000,0.542,0.000
$DEVICE_MAMPS,85.680,1216.350,1262.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.293,339.704,268.761,398.372,518.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329224
$DATA_FILE_SIZE,10894,125
$CAP_FILE_SIZE,27459,0
$CFSIZE,1024409600,900431872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070917,050641,5953.277,-17157.912,10,0.8,16,7.9,0.8,15.8,11,5.0