version: 66.13
glider: 401
mission: 22
dive: 2552
start: 9 9 117 9 21 59
data:
$ID,401
$MISSION,22
$DIVE,2552
$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,25
$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
$GPS1,090917,090127,5945.1177,-17121.5996,7,0.8,21,8.2,0.4,211.5,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-2.2
$GPS2,090917,090127,5945.1177,-17121.5996,7,0.8,21,8.2,0.4,211.5,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W24S
$TGT_LATLONG,5935.700,-17055.381
$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,117.2,30135,-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,-487.5,2380,1980,2387,4092,0.0,0.0,0,23,6.28,0.00,-2.15,0.000,20482,0.021,0.000,1763,1980,2617,2617,4094,0,0,0,0,0,0,26.24,28.83,26.29,10.34,53.97
$GC,30,-1.80,-487.5,1764,1980,2617,4094,0.1,0.0,1,40,0.00,1.12,-3.88,0.000,16644,0.000,1.222,1764,2378,3058,3058,4095,0,0,0,0,0,0,26.53,23.95,26.53,10.38,53.74
$GC,209,-1.80,-487.5,1763,2377,3063,4095,24.3,-15.7,26,217,0.00,1.08,0.00,0.000,1030,0.000,0.031,1763,1947,3063,3063,4094,0,0,0,0,0,0,26.23,26.15,26.23,10.48,53.42
$GC,258,-1.80,-487.5,1763,1946,3064,4094,31.0,-12.6,32,267,0.00,1.08,0.00,0.000,516,0.000,0.051,1763,1522,3064,3064,4095,0,0,0,0,0,0,26.58,26.06,26.59,10.44,52.32
$GC,327,-1.80,-487.5,1763,1522,3066,4095,40.6,-13.8,41,336,0.00,0.98,0.00,0.000,1030,0.000,0.027,1763,1940,3066,3066,4095,0,0,0,0,0,0,26.33,26.27,26.33,10.40,51.10
$GC,377,-1.80,-487.5,1763,1940,3067,4095,47.7,-14.2,47,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1940,3067,3067,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.39,50.11
$GC,426,-1.80,-487.5,1763,1940,3069,4095,55.0,-15.0,53,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1940,3069,3069,4095,0,0,0,0,0,0,26.65,26.65,26.65,10.38,49.09
$STATE,442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,442,begin apogee
$GC,456,-0.45,0.0,1763,2143,3069,4094,58.1,-14.2,55,498,4.55,0.00,28.62,1.296,10244,0.054,0.000,2185,2144,2489,2489,4095,0,0,0,0,0,0,26.16,24.81,23.95,10.38,48.97
$STATE,499,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,505,1.80,487.5,2185,2144,2489,4095,62.8,0.0,60,551,7.55,1.15,28.70,1.278,10756,0.029,0.043,2902,1706,1915,1915,4094,0,0,0,0,0,0,25.58,25.53,23.56,10.27,47.79
$GC,642,1.80,487.5,2901,1706,1913,4094,50.8,12.2,77,651,0.00,1.05,0.00,0.000,1030,0.000,0.029,2902,2130,1912,1912,4094,0,0,0,0,0,0,25.60,25.58,25.65,10.12,47.04
$GC,692,1.80,487.5,2901,2130,1911,4094,43.7,12.9,83,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1911,1911,4094,0,0,0,0,0,0,26.05,26.07,26.06,10.12,47.12
$GC,741,1.80,487.5,2901,2130,1910,4094,37.6,12.7,89,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1909,1909,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,47.95
$GC,790,1.80,487.5,2901,2129,1908,4094,31.2,12.6,95,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1908,1908,4094,0,0,0,0,0,0,26.25,26.26,26.25,10.10,47.83
$GC,838,1.80,487.5,2901,2129,1907,4094,25.2,12.4,101,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1907,1907,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.14,48.30
$GC,887,1.80,487.5,2902,2130,1905,4094,19.6,10.9,107,896,0.00,1.10,0.00,0.000,516,0.000,0.046,2902,1714,1905,1905,4094,0,0,0,0,0,0,26.36,25.91,26.37,10.17,50.00
$GC,1001,1.83,504.4,2901,1714,1902,4094,7.3,10.5,123,1011,0.00,1.02,0.60,0.004,9222,0.000,0.029,2902,2136,1902,1902,4094,0,0,0,0,0,0,26.15,26.11,26.16,10.20,52.59
$GC,1051,1.89,546.5,2902,2136,1901,4094,2.3,10.1,129,1062,0.20,0.00,4.32,0.397,10246,0.047,0.000,2932,2137,1845,1845,4094,0,0,0,0,0,0,26.26,25.27,24.30,10.20,53.11
$STATE,1069,end climb,FINISH_DEPTH_REACHED
$STATE,1069,begin subsurface finish
$FINISH1,0.1,1.002197,0
$GC,1084,0.00,0.0,2932,2138,1844,4094,0.1,9.3,131,1103,5.90,0.00,-5.85,0.000,20486,0.021,0.000,2352,2139,2488,2488,4095,0,0,0,0,0,0,26.18,25.51,26.23,10.20,53.26
$FINISH2,0.1
$STATE,1104,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1104,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,085155
$TT8_MAMPS,0.025466,0.238931
$HUMID,53.62
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.56,74.645
$10V_AH,9.98,67.210
$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,24.475,9.450,62.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,367.251,0.000,109.979,552.977,137.113,0.000,325.189,0.000,325.887,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1221.705,1295.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.739,361.331,285.979,424.054,550.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,14382,133
$CAP_FILE_SIZE,24534,0
$CFSIZE,1024409600,894074880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,090127,5945.118,-17121.600,7,0.8,21,8.2,0.4,211.5,10,4.9