version: 66.13
glider: 401
mission: 22
dive: 2497
start: 9 8 117 10 45 9
data:
$ID,401
$MISSION,22
$DIVE,2497
$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,49
$R_STBD_OVSHOOT,57
$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
$GPS1,080917,103338,5948.7051,-17133.2266,5,0.9,21,8.1,0.4,216.5,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-36.6
$GPS2,080917,104430,5948.6167,-17133.2500,7,0.9,25,8.1,0.0,186.0,10,5.0
$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,114.3,6901,-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,-487.5,237,2001,1829,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.087,0.000,716,2001,1829,1829,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.26,51.53
$GC,26,-1.80,-487.5,715,2001,1829,4094,0.7,0.0,1,57,11.20,1.27,-11.55,0.000,18948,0.044,1.228,1755,1545,3056,3056,4094,0,0,0,0,0,0,25.92,23.77,26.01,10.25,52.04
$GC,129,-1.80,-487.5,1754,1544,3056,4094,-0.0,0.0,17,135,0.00,0.90,0.00,0.000,1030,0.000,0.031,1754,1932,3056,3056,4095,0,0,0,0,0,0,25.97,25.93,26.00,10.52,51.61
$GC,171,-1.80,-487.5,1754,1933,3056,4095,0.5,-2.2,23,178,0.00,1.00,0.00,0.000,516,0.000,0.052,1754,1544,3056,3056,4095,0,0,0,0,0,0,26.37,25.87,26.38,10.52,51.73
$GC,351,-1.80,-487.5,1754,1544,3062,4095,31.2,-18.7,51,357,0.00,1.08,0.00,0.000,1030,0.000,0.026,1754,1990,3062,3062,4095,0,0,0,0,0,0,26.21,26.19,26.24,10.49,50.98
$GC,393,-1.80,-487.5,1754,1990,3063,4095,37.9,-13.7,57,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1990,3063,3063,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.46,50.51
$GC,434,-1.80,-487.5,1754,1990,3065,4094,43.8,-14.6,63,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1990,3064,3064,4094,0,0,0,0,0,0,26.55,26.58,26.57,10.44,49.13
$GC,476,-1.80,-487.5,1754,1990,3065,4094,49.8,-14.4,69,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1991,3065,3065,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.42,47.91
$STATE,505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,505,begin apogee
$GC,519,-0.45,0.0,1754,2153,3066,4094,55.1,-15.2,74,555,4.68,0.00,28.55,1.248,10244,0.054,0.000,2186,2153,2484,2484,4094,0,0,0,0,0,0,26.10,25.20,23.97,10.41,47.59
$STATE,556,end apogee,CONTROL_FINISHED_OK
$STATE,556,begin climb
$GC,562,1.80,487.5,2186,2153,2484,4094,59.2,0.0,80,604,7.60,0.00,28.05,1.225,11270,0.029,0.000,2901,2154,1916,1916,4094,0,0,0,0,0,0,25.66,25.86,23.62,10.29,46.61
$GC,640,1.80,487.5,2900,2153,1914,4094,53.0,12.1,92,646,0.00,1.12,0.00,0.000,516,0.000,0.043,2901,1731,1914,1914,4094,0,0,0,0,0,0,25.65,25.27,25.67,10.15,45.78
$GC,760,1.80,487.5,2900,1731,1911,4094,36.9,13.5,111,766,0.00,0.95,0.00,0.000,1030,0.000,0.028,2901,2121,1911,1911,4094,0,0,0,0,0,0,25.79,25.77,25.82,10.13,46.06
$GC,802,1.80,487.5,2900,2121,1910,4094,31.3,13.4,117,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2121,1910,1910,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.13,46.49
$GC,844,1.80,487.5,2901,2121,1908,4094,26.2,11.1,123,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2121,1908,1908,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.16,47.24
$GC,885,1.87,529.8,2900,2121,1907,4094,21.9,10.1,129,893,0.12,0.00,3.85,0.457,10246,0.064,0.000,2925,2121,1865,1865,4094,0,0,0,0,0,0,26.08,25.21,24.10,10.19,48.54
$GC,928,1.87,529.8,2924,2120,1864,4094,17.1,11.5,135,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2121,1864,1864,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,50.51
$GC,970,1.87,529.8,2924,2121,1863,4094,12.3,11.5,141,976,0.00,1.02,0.00,0.000,516,0.000,0.045,2925,1732,1862,1862,4094,0,0,0,0,0,0,26.35,25.90,26.36,10.21,51.85
$STATE,1054,end climb,FINISH_DEPTH_REACHED
$STATE,1054,begin subsurface finish
$FINISH1,1.6,1.024273,92
$GC,1070,0.14,92.5,2925,2144,1860,4094,1.6,12.7,155,1083,5.55,0.00,-4.72,0.000,20486,0.022,0.000,2382,2152,2381,2381,4094,0,0,0,0,0,0,26.17,24.40,26.22,10.22,52.91
$FINISH2,0.2
$STATE,1084,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1084,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,092737
$TT8_MAMPS,0.026215,0.161784
$HUMID,52.87
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.62,73.028
$10V_AH,10.14,65.917
$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,34.775,8.750,60.450,0.000,0.000,22.219,16.395,290.925,0.000,0.000,26.806,413.822,254.290,138.651,506.080,423.757,0.000,310.305,0.000,238.739,0.000,0.542,0.000
$DEVICE_MAMPS,87.210,1227.825,1247.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329380
$DATA_FILE_SIZE,10871,157
$CAP_FILE_SIZE,29959,0
$CFSIZE,1024409600,896778240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,104430,5948.617,-17133.250,7,0.9,25,8.1,0.0,186.0,10,5.0