version: 66.13
glider: 401
mission: 22
dive: 2441
start: 9 7 117 12 26 10
data:
$ID,401
$MISSION,22
$DIVE,2441
$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,16
$R_STBD_OVSHOOT,56
$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
$GPS1,070917,120631,5951.3198,-17149.8027,10,0.7,14,8.0,0.0,0.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-3.7
$GPS2,070917,120631,5951.3198,-17149.8027,10,0.7,14,8.0,0.0,0.0,11,4.9
$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,104.3,22971,-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,-487.5,2386,1995,2378,4092,0.0,0.0,0,31,6.25,0.12,-6.50,0.000,20486,0.023,1.261,1775,1941,3056,3056,4095,0,0,0,0,0,0,26.14,23.53,26.17,10.34,52.87
$GC,38,-1.80,-487.5,1775,1941,3056,4095,0.0,-0.3,3,44,0.00,1.08,0.00,0.000,516,0.000,0.053,1775,1523,3056,3056,4094,0,0,0,0,0,0,26.34,25.88,26.34,10.49,52.91
$GC,251,-1.80,-487.5,1775,1523,3062,4094,30.8,-12.9,37,258,0.00,0.95,0.00,0.000,1030,0.000,0.026,1775,1934,3062,3062,4095,0,0,0,0,0,0,26.24,26.22,26.25,10.43,52.16
$GC,293,-1.80,-487.5,1774,1934,3063,4095,36.3,-13.0,43,299,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1934,3062,3062,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.42,51.26
$GC,334,-1.80,-487.5,1774,1934,3063,4095,41.7,-12.9,49,340,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1934,3064,3064,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.40,49.92
$GC,376,-1.80,-487.5,1774,1934,3065,4095,47.2,-13.2,55,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1934,3065,3065,4095,0,0,0,0,0,0,26.57,26.59,26.58,10.39,49.29
$GC,417,-1.80,-487.5,1774,1935,3066,4095,52.8,-13.6,61,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1935,3066,3066,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.38,49.09
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,442,-0.45,0.0,1775,2132,3067,4095,55.0,-13.2,63,478,4.45,0.00,28.38,1.254,10244,0.053,0.000,2186,2133,2484,2484,4094,0,0,0,0,0,0,26.13,25.25,24.05,10.38,48.77
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,485,1.80,487.5,2186,2132,2484,4094,58.9,0.0,69,526,7.62,0.00,28.02,1.229,11270,0.031,0.000,2900,2132,1916,1916,4094,0,0,0,0,0,0,25.67,25.86,23.68,10.25,47.95
$GC,562,1.80,487.5,2900,2132,1915,4094,53.0,12.1,81,568,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1714,1915,1915,4094,0,0,0,0,0,0,25.64,25.27,25.65,10.13,47.59
$GC,706,1.80,487.5,2900,1714,1911,4094,34.1,13.3,104,712,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2130,1910,1910,4094,0,0,0,0,0,0,25.82,25.79,25.85,10.10,47.75
$GC,749,1.80,487.5,2900,2129,1909,4094,28.4,13.3,110,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1909,1909,4094,0,0,0,0,0,0,26.19,26.21,26.20,10.10,48.22
$GC,790,1.80,487.5,2900,2130,1908,4094,23.1,12.4,116,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1908,1908,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.13,48.34
$GC,831,1.88,540.4,2900,2130,1907,4094,18.8,10.0,122,845,0.17,1.10,4.35,0.494,10756,0.052,0.044,2929,1710,1852,1852,4094,0,0,0,0,0,0,26.08,25.41,24.23,10.16,50.19
$GC,970,1.88,540.4,2928,1710,1849,4094,3.8,10.9,143,976,0.00,1.00,0.00,0.000,1030,0.000,0.027,2929,2132,1849,1849,4095,0,0,0,0,0,0,26.11,26.09,26.14,10.18,53.97
$STATE,981,end climb,FINISH_DEPTH_REACHED
$STATE,981,begin subsurface finish
$FINISH1,0.9,1.024232,95
$GC,995,0.14,95.3,2929,2139,1848,4094,0.9,12.6,145,1015,5.55,1.27,-4.85,0.000,20740,0.018,1.235,2383,2559,2377,2377,4095,0,0,0,0,0,0,26.15,23.99,26.19,10.20,53.81
$FINISH2,0.1
$STATE,1016,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1016,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,105151
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.21
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.53,71.443
$10V_AH,10.30,64.642
$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,24.050,8.775,60.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,381.599,238.425,128.554,215.104,115.479,0.000,285.293,0.000,224.463,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1260.720,1253.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,10821,148
$CAP_FILE_SIZE,22828,0
$CFSIZE,1024409600,899497984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,120631,5951.320,-17149.803,10,0.7,14,8.0,0.0,0.0,11,4.9