version: 66.13
glider: 401
mission: 22
dive: 2481
start: 9 8 117 4 18 23
data:
$ID,401
$MISSION,22
$DIVE,2481
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,080917,033912,5949.8125,-17140.8691,6,0.8,13,8.0,0.0,0.0,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-1.5
$GPS2,080917,033912,5949.8125,-17140.8691,6,0.8,13,8.0,0.0,0.0,11,5.0
$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,106.6,14217,-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,-487.5,2382,1946,2378,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.018,0.000,1830,1946,2378,2378,4095,0,0,0,0,0,0,26.46,28.83,28.83,10.33,54.37
$GC,26,-1.80,-487.5,1829,1946,2378,4095,0.1,0.0,1,40,0.45,1.25,-6.47,0.000,21252,0.041,1.215,1779,2391,3055,3055,4094,0,0,0,0,0,0,26.13,24.02,26.16,10.33,53.50
$GC,277,-1.80,-487.5,1778,2390,3061,4094,32.2,-12.3,41,284,0.00,1.12,0.00,0.000,1030,0.000,0.031,1779,1941,3061,3061,4095,0,0,0,0,0,0,26.19,26.15,26.23,10.41,52.67
$GC,319,-1.80,-487.5,1778,1940,3062,4095,37.7,-13.1,47,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1941,3062,3062,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.39,51.85
$GC,360,-1.80,-487.5,1778,1941,3063,4095,43.4,-13.8,53,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1941,3064,3064,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.38,50.51
$GC,402,-1.80,-487.5,1778,1941,3064,4095,48.9,-13.4,59,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1941,3064,3064,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.38,50.74
$GC,443,-1.80,-487.5,1778,1940,3066,4094,54.6,-13.9,65,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1941,3066,3066,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.38,49.25
$STATE,454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,454,begin apogee
$GC,468,-0.45,0.0,1778,2150,3066,4095,56.9,-13.6,67,504,4.40,0.00,28.45,1.270,10244,0.053,0.000,2186,2150,2484,2484,4094,0,0,0,0,0,0,26.15,25.25,24.03,10.38,49.25
$STATE,505,end apogee,CONTROL_FINISHED_OK
$STATE,505,begin climb
$GC,511,1.80,487.5,2186,2150,2484,4094,60.5,0.0,73,552,7.60,0.00,28.10,1.246,11270,0.030,0.000,2899,2150,1916,1916,4094,0,0,0,0,0,0,25.67,25.87,23.65,10.24,48.54
$GC,588,1.80,487.5,2899,2150,1915,4094,54.7,12.2,85,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2150,1914,1914,4095,0,0,0,0,0,0,25.65,25.66,25.66,10.11,47.44
$GC,629,1.80,487.5,2899,2150,1914,4095,49.0,14.1,91,636,0.00,1.17,0.00,0.000,516,0.000,0.045,2899,1714,1913,1913,4095,0,0,0,0,0,0,25.84,25.44,25.85,10.12,48.14
$GC,738,1.80,487.5,2899,1714,1910,4095,34.6,13.3,108,745,0.00,1.02,0.00,0.000,1030,0.000,0.031,2899,2130,1911,1911,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.10,48.11
$GC,780,1.80,487.5,2899,2130,1909,4094,28.9,13.7,114,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2130,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.09,48.30
$GC,822,1.80,487.5,2899,2133,1908,4094,23.4,12.9,120,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2137,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.10,48.66
$GC,863,2.32,833.4,2899,2136,1907,4094,20.7,5.6,126,888,1.67,0.00,19.27,0.825,10246,0.024,0.000,3068,2136,1512,1512,4095,0,0,0,0,0,0,26.03,25.31,24.36,10.14,49.96
$GC,924,2.32,833.4,3067,2137,1511,4095,15.1,10.8,135,930,0.00,1.15,0.00,0.000,516,0.000,0.061,3069,1715,1511,1511,4094,0,0,0,0,0,0,26.10,25.61,26.11,10.09,51.45
$GC,984,2.32,833.4,3068,1715,1509,4094,7.9,12.1,144,990,0.00,1.00,0.00,0.000,1030,0.000,0.028,3068,2128,1509,1509,4094,0,0,0,0,0,0,25.93,25.89,25.95,10.10,52.91
$GC,1026,2.32,833.4,3068,2127,1507,4094,3.0,11.0,150,1033,0.00,1.17,0.00,0.000,260,0.000,0.058,3068,2558,1507,1507,4094,0,0,0,0,0,0,26.27,25.78,26.29,10.12,53.78
$STATE,1037,end climb,SURFACE_DEPTH_REACHED
$STATE,1038,begin surface coast
$FINISH,0.1,1.016032
$STATE,1051,end surface coast,CONTROL_FINISHED_OK
$STATE,1051,begin surface
$SM_CCo,1164,0.00,0.000,0,0,1506,840.57
$SM_GC,0.58,29.83,1.60,0.00,0.019,0.034,0.000,231,1957,1506,-6.59,1.37,840.57,0,0,0,0,0,0,25.80,25.93,25.91
$IRIDIUM_FIX,5955.74,-17228.01,080917,022258
$TT8_MAMPS,0.025466,0.10486
$HUMID,54.05
$INTERNAL_PRESSURE,10.0723
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.65,72.568
$10V_AH,10.31,65.551
$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,49.575,11.675,75.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,403.622,305.136,165.786,223.401,138.430,0.000,331.238,0.000,233.010,0.000,0.541,0.000
$DEVICE_MAMPS,52.785,1214.820,1269.900,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,10892,154
$CAP_FILE_SIZE,26767,0
$CFSIZE,1024409600,897564672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,043852,5950.036,-17139.924,4,0.8,17,8.0,0.0,346.0,11,5.0