version: 66.13
glider: 401
mission: 22
dive: 2429
start: 9 7 117 7 48 24
data:
$ID,401
$MISSION,22
$DIVE,2429
$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,61
$R_STBD_OVSHOOT,62
$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
$GPS1,070917,072755,5953.2373,-17153.9941,10,0.9,16,7.9,0.0,60.3,9,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.9
$GPS2,070917,072755,5953.2373,-17153.9941,10,0.9,16,7.9,0.0,60.3,9,4.9
$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,108.1,27990,-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,-487.5,2387,2009,2375,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.019,0.000,1835,2010,2375,2375,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.34,52.95
$GC,26,-1.80,-487.5,1835,2009,2375,4094,0.0,0.0,1,40,0.50,1.30,-6.55,0.000,20996,0.031,1.235,1776,1560,3057,3057,4094,0,0,0,0,0,0,26.17,24.03,26.19,10.35,53.50
$GC,205,-1.80,-487.5,1776,1559,3062,4094,25.2,-17.5,29,212,0.00,0.85,0.00,0.000,1030,0.000,0.027,1776,1931,3062,3062,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.48,52.91
$GC,247,-1.80,-487.5,1776,1931,3063,4095,30.5,-12.2,35,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1932,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.44,52.48
$GC,288,-1.80,-487.5,1775,1932,3065,4095,35.8,-12.8,41,295,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1932,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,51.73
$GC,330,-1.80,-487.5,1776,1932,3066,4095,41.3,-13.0,47,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1933,3065,3065,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.40,50.86
$GC,371,-1.80,-487.5,1776,1933,3067,4094,46.8,-13.2,53,378,0.00,1.12,0.00,0.000,260,0.000,0.045,1776,2362,3067,3067,4095,0,0,0,0,0,0,26.58,26.10,26.58,10.38,50.39
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,445,-0.45,0.0,1776,2138,3068,4095,55.9,-13.9,63,481,4.40,0.00,28.30,1.261,10244,0.054,0.000,2185,2132,2484,2484,4095,0,0,0,0,0,0,26.12,25.25,24.05,10.38,48.97
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,488,1.80,487.5,2184,2132,2484,4095,59.8,0.0,69,529,7.60,0.00,28.02,1.239,11270,0.031,0.000,2900,2132,1915,1915,4094,0,0,0,0,0,0,25.66,25.86,23.68,10.25,48.81
$GC,565,1.80,487.5,2899,2131,1915,4094,54.1,12.1,81,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2132,1915,1915,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.12,47.04
$GC,606,1.80,487.5,2900,2132,1914,4094,48.8,13.1,87,613,0.00,1.02,0.00,0.000,516,0.000,0.045,2899,1745,1913,1913,4094,0,0,0,0,0,0,25.83,25.44,25.84,10.12,47.36
$GC,715,1.80,487.5,2899,1744,1910,4094,35.0,12.9,104,722,0.00,0.93,0.00,0.000,1030,0.000,0.030,2900,2122,1911,1911,4094,0,0,0,0,0,0,25.83,25.80,25.86,10.11,47.87
$GC,757,1.80,487.5,2899,2122,1909,4094,29.5,12.7,110,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1909,1909,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.10,47.99
$GC,798,1.80,487.5,2899,2121,1908,4094,24.4,12.7,116,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2122,1908,1908,4095,0,0,0,0,0,0,26.26,26.27,26.27,10.11,48.50
$GC,840,1.87,535.0,2899,2122,1907,4095,20.2,10.1,122,848,0.15,0.00,4.05,0.474,10246,0.058,0.000,2924,2123,1860,1860,4094,0,0,0,0,0,0,26.08,25.29,24.21,10.16,49.44
$GC,883,1.87,535.0,2925,2123,1858,4094,15.6,11.2,128,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2123,1858,1858,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.17,51.37
$GC,925,1.87,535.0,2924,2122,1857,4095,10.5,12.6,134,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2123,1857,1857,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.18,52.95
$GC,966,1.87,535.0,2924,2122,1856,4094,6.0,11.3,140,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2122,1855,1855,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.19,53.07
$STATE,1001,end climb,FINISH_DEPTH_REACHED
$STATE,1001,begin subsurface finish
$FINISH1,1.5,1.024222,96
$GC,1015,0.14,96.0,2925,2130,1854,4094,1.5,10.3,146,1035,5.53,1.08,-4.82,0.000,20996,0.020,1.222,2385,1742,2377,2377,4095,0,0,0,0,0,0,26.15,23.98,26.20,10.20,53.42
$FINISH2,0.1
$STATE,1036,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1036,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,061058
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.60
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.68,71.110
$10V_AH,10.31,64.377
$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,23.800,7.300,60.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.348,234.901,132.888,216.855,125.682,0.000,295.051,0.000,225.823,0.000,0.544,0.000
$DEVICE_MAMPS,58.140,1235.475,1261.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.776,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,10781,149
$CAP_FILE_SIZE,24586,0
$CFSIZE,1024409600,900087808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,072755,5953.237,-17153.994,10,0.9,16,7.9,0.0,60.3,9,4.9