version: 66.13
glider: 401
mission: 22
dive: 2477
start: 9 8 117 2 48 58
data:
$ID,401
$MISSION,22
$DIVE,2477
$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,24
$R_STBD_OVSHOOT,29
$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
$GPS1,080917,022834,5949.5083,-17141.3418,6,0.8,18,8.0,0.0,269.4,11,4.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.1
$GPS2,080917,022834,5949.5083,-17141.3418,6,0.8,18,8.0,0.0,269.4,11,4.9
$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,103.8,14400,-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,-487.5,2386,1959,2372,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.022,0.000,1833,1958,2373,2373,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.35,52.79
$GC,26,-1.80,-487.5,1832,1957,2373,4094,0.1,0.0,1,39,0.47,1.23,-6.45,0.000,21252,0.031,1.220,1775,2378,3054,3054,4094,0,0,0,0,0,0,26.18,23.59,26.20,10.35,52.63
$GC,50,-1.80,-487.5,1774,2378,3054,4094,0.0,0.1,4,57,0.00,1.10,0.00,0.000,1030,0.000,0.032,1775,1948,3054,3054,4095,0,0,0,0,0,0,26.06,26.02,26.08,10.50,52.95
$GC,93,-1.80,-487.5,1774,1941,3055,4095,3.1,-10.7,10,99,0.00,1.10,0.00,0.000,516,0.000,0.051,1775,1513,3055,3055,4095,0,0,0,0,0,0,26.41,25.92,26.42,10.50,52.63
$GC,110,-1.80,-487.5,1774,1513,3055,4095,5.5,-12.4,12,117,0.00,0.98,0.00,0.000,1030,0.000,0.027,1775,1931,3055,3055,4094,0,0,0,0,0,0,26.14,26.10,26.16,10.50,52.67
$GC,152,-1.80,-487.5,1774,1930,3057,4094,12.2,-16.3,18,159,0.00,1.08,0.00,0.000,516,0.000,0.049,1775,1517,3057,3057,4094,0,0,0,0,0,0,26.46,25.98,26.46,10.50,52.32
$GC,396,-1.80,-487.5,1774,1517,3063,4094,46.4,-13.7,57,402,0.00,0.95,0.00,0.000,1030,0.000,0.027,1775,1927,3063,3063,4094,0,0,0,0,0,0,26.30,26.29,26.32,10.40,50.00
$GC,438,-1.80,-487.5,1774,1927,3064,4094,52.0,-13.4,63,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1927,3064,3064,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.39,49.72
$STATE,455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,455,begin apogee
$GC,469,-0.45,0.0,1774,2134,3065,4094,55.3,-13.6,66,505,4.45,0.00,28.38,1.243,10244,0.054,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.13,25.25,24.05,10.38,49.44
$STATE,506,end apogee,CONTROL_FINISHED_OK
$STATE,506,begin climb
$GC,512,1.80,487.5,2186,2134,2484,4094,59.1,0.0,72,554,7.57,0.00,28.12,1.222,11270,0.029,0.000,2900,2135,1915,1915,4094,0,0,0,0,0,0,25.69,25.89,23.67,10.26,48.11
$GC,590,1.80,487.5,2899,2135,1915,4094,52.9,12.6,84,596,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1710,1914,1914,4094,0,0,0,0,0,0,25.67,25.29,25.67,10.13,46.88
$GC,710,1.80,487.5,2899,1709,1911,4094,37.0,13.3,103,717,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2125,1911,1911,4095,0,0,0,0,0,0,25.79,25.75,25.82,10.12,47.48
$GC,753,1.80,487.5,2899,2126,1909,4095,31.5,13.0,109,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1909,1909,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.11,47.55
$GC,794,1.80,487.5,2899,2126,1908,4094,26.0,13.6,115,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1908,1908,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.10,47.99
$GC,835,1.80,487.5,2899,2126,1907,4094,20.9,11.7,121,842,0.00,1.10,0.00,0.000,516,0.000,0.047,2900,1710,1907,1907,4094,0,0,0,0,0,0,26.29,25.84,26.31,10.14,48.30
$GC,949,1.80,487.5,2899,1710,1904,4094,8.7,11.0,139,956,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2130,1904,1904,4094,0,0,0,0,0,0,26.10,26.06,26.13,10.20,52.63
$GC,992,1.80,487.5,2899,2130,1903,4094,3.7,11.8,145,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1903,1903,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.21,53.42
$STATE,1002,end climb,FINISH_DEPTH_REACHED
$STATE,1003,begin subsurface finish
$FINISH1,1.9,1.024238,95
$GC,1017,0.14,94.9,2900,2130,1902,4094,1.9,11.1,147,1030,5.22,0.00,-4.15,0.000,20486,0.021,0.000,2384,2130,2379,2379,4094,0,0,0,0,0,0,26.19,24.43,26.23,10.21,53.34
$FINISH2,0.3
$STATE,1031,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1031,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,022123
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.78
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.59,72.460
$10V_AH,10.31,65.464
$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,23.350,11.650,56.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,391.673,239.259,124.790,216.080,122.568,0.000,283.614,0.000,225.869,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1220.175,1243.125,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330644
$DATA_FILE_SIZE,10816,149
$CAP_FILE_SIZE,24614,0
$CFSIZE,1024409600,897761280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,022834,5949.508,-17141.342,6,0.8,18,8.0,0.0,269.4,11,4.9