version: 66.13
glider: 401
mission: 22
dive: 2439
start: 9 7 117 11 36 37
data:
$ID,401
$MISSION,22
$DIVE,2439
$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,23
$R_STBD_OVSHOOT,43
$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
$GPS1,070917,105747,5951.7710,-17150.2383,9,0.9,18,8.0,0.8,176.2,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-3.2
$GPS2,070917,105747,5951.7710,-17150.2383,9,0.9,18,8.0,0.8,176.2,11,4.8
$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,105.8,23671,-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,-487.5,2389,1985,2375,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.018,0.000,1838,1985,2375,2375,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.33,53.78
$GC,26,-1.80,-487.5,1838,1985,2374,4094,0.1,0.0,1,40,0.55,1.35,-6.55,0.000,20996,0.037,1.241,1778,1521,3057,3057,4095,0,0,0,0,0,0,26.13,24.04,26.15,10.33,54.13
$GC,222,-1.80,-487.5,1777,1521,3062,4095,27.8,-17.6,32,229,0.00,0.98,0.00,0.000,1030,0.000,0.027,1778,1938,3062,3062,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.47,53.54
$GC,265,-1.80,-487.5,1777,1937,3063,4095,33.4,-13.0,38,271,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1938,3064,3064,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.43,52.87
$GC,306,-1.80,-487.5,1777,1939,3064,4094,38.7,-12.9,44,312,0.00,1.12,0.00,0.000,260,0.000,0.045,1778,2368,3064,3064,4094,0,0,0,0,0,0,26.55,26.08,26.56,10.41,51.89
$GC,372,-1.80,-487.5,1777,2367,3066,4094,47.5,-13.2,54,379,0.00,1.02,0.00,0.000,1030,0.000,0.030,1777,1958,3067,3067,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.38,50.82
$GC,414,-1.80,-487.5,1777,1958,3067,4094,53.1,-13.0,60,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1958,3067,3067,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.38,50.15
$STATE,425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,438,-0.45,0.0,1777,2141,3067,4094,55.3,-13.4,62,474,4.40,0.00,28.42,1.257,10244,0.052,0.000,2185,2141,2484,2484,4095,0,0,0,0,0,0,26.13,25.25,24.04,10.38,49.37
$STATE,475,end apogee,CONTROL_FINISHED_OK
$STATE,475,begin climb
$GC,481,1.80,487.5,2184,2141,2484,4095,58.6,0.0,68,523,7.60,0.00,28.00,1.229,11270,0.031,0.000,2899,2142,1916,1916,4094,0,0,0,0,0,0,25.66,25.86,23.67,10.25,49.17
$GC,558,1.80,487.5,2898,2141,1915,4094,52.6,13.2,80,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2142,1915,1915,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.12,47.67
$GC,600,1.80,487.5,2898,2141,1913,4094,47.0,13.6,86,605,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2142,1913,1913,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.11,47.24
$GC,641,1.80,487.5,2898,2141,1912,4094,41.5,13.6,92,647,0.00,1.15,0.00,0.000,516,0.000,0.045,2899,1712,1912,1912,4094,0,0,0,0,0,0,25.96,25.55,25.98,10.11,47.24
$GC,749,1.80,487.5,2898,1711,1909,4094,27.1,13.2,109,756,0.00,1.00,0.00,0.000,1030,0.000,0.030,2899,2120,1908,1908,4094,0,0,0,0,0,0,25.90,25.87,25.92,10.09,48.58
$GC,792,1.81,488.8,2899,2120,1908,4094,22.3,10.8,115,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2120,1908,1908,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.15,49.68
$GC,833,1.82,499.2,2898,2120,1906,4094,17.8,10.6,121,840,0.00,0.00,2.17,0.092,8198,0.000,0.000,2899,2120,1901,1901,4095,0,0,0,0,0,0,26.31,25.08,23.92,10.17,50.82
$GC,876,1.82,501.5,2899,2120,1900,4095,13.2,10.7,127,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2120,1900,1900,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.19,52.08
$GC,917,1.82,501.5,2899,2120,1899,4094,8.4,12.0,133,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2120,1898,1898,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.19,52.75
$GC,959,1.86,522.5,2898,2120,1897,4094,4.2,10.5,139,967,0.10,1.08,2.95,0.253,10756,0.076,0.046,2919,1712,1874,1874,4095,0,0,0,0,0,0,26.20,25.37,24.27,10.19,53.03
$STATE,972,end climb,SURFACE_DEPTH_REACHED
$STATE,972,begin surface coast
$FINISH,0.3,1.024224
$STATE,986,end surface coast,CONTROL_FINISHED_OK
$STATE,986,begin surface
$SM_CCo,1095,0.00,0.000,0,0,1872,526.32
$SM_GC,0.66,28.00,0.57,0.00,0.020,0.030,0.000,240,1979,1872,-6.55,-1.50,526.32,0,0,0,0,0,0,26.15,26.19,26.18
$IRIDIUM_FIX,5955.74,-17228.01,070917,094135
$TT8_MAMPS,0.025466,0.10486
$HUMID,54.37
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.67,71.381
$10V_AH,10.31,64.596
$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,46.225,9.350,61.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,387.068,286.338,149.366,207.303,136.102,0.000,304.695,0.000,217.298,0.000,0.544,0.000
$DEVICE_MAMPS,76.500,1240.830,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.879,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,10802,143
$CAP_FILE_SIZE,26600,0
$CFSIZE,1024409600,899596288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,115602,5951.376,-17149.721,2,0.7,24,8.0,0.7,155.5,11,4.7