version: 66.13
glider: 401
mission: 22
dive: 2554
start: 9 9 117 10 14 3
data:
$ID,401
$MISSION,22
$DIVE,2554
$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,32
$R_STBD_OVSHOOT,28
$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
$GPS1,090917,100302,5944.6152,-17120.4961,8,0.9,35,8.2,0.4,147.7,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-38.8
$GPS2,090917,101324,5944.5879,-17120.4629,7,0.9,16,8.2,0.3,146.1,10,4.9
$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,116.8,28699,-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,-487.5,237,1939,1712,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.076,0.000,976,1940,1712,1712,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.22,52.04
$GC,29,-1.80,-487.5,976,1940,1712,4094,0.6,0.0,1,57,8.25,1.25,-12.45,0.000,18692,0.037,1.211,1754,2375,3055,3055,4094,0,0,0,0,0,0,25.94,23.74,26.03,10.22,52.44
$GC,246,-1.80,-487.5,1754,2376,3061,4094,29.8,-13.6,31,255,0.00,1.05,0.00,0.000,1030,0.000,0.028,1754,1954,3061,3061,4095,0,0,0,0,0,0,26.10,26.08,26.15,10.49,51.10
$GC,297,-1.80,-487.5,1754,1954,3062,4095,36.6,-14.1,37,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1954,3062,3062,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.44,50.35
$GC,347,-1.80,-487.5,1753,1955,3063,4095,43.9,-14.5,43,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1954,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,49.17
$GC,396,-1.80,-487.5,1754,1954,3065,4095,50.9,-14.5,49,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1954,3064,3064,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.41,48.34
$STATE,419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,419,begin apogee
$GC,433,-0.45,0.0,1755,2143,3066,4094,55.1,-13.9,52,470,4.68,0.00,28.67,1.259,10244,0.056,0.000,2186,2143,2484,2484,4095,0,0,0,0,0,0,26.07,25.16,23.91,10.40,47.99
$STATE,471,end apogee,CONTROL_FINISHED_OK
$STATE,471,begin climb
$GC,477,1.80,487.5,2186,2143,2484,4095,59.5,0.0,56,521,7.60,0.00,28.33,1.237,11270,0.029,0.000,2900,2143,1915,1915,4094,0,0,0,0,0,0,25.63,25.84,23.56,10.29,47.28
$GC,563,1.80,487.5,2900,2143,1914,4094,52.8,11.9,66,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1914,1914,4094,0,0,0,0,0,0,25.70,25.70,25.70,10.15,45.82
$GC,614,1.80,487.5,2900,2142,1913,4094,46.6,12.6,72,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2143,1913,1913,4094,0,0,0,0,0,0,25.91,25.91,25.91,10.14,46.22
$GC,664,1.80,487.5,2900,2142,1911,4094,40.2,12.9,78,674,0.00,1.15,0.00,0.000,516,0.000,0.046,2901,1713,1911,1911,4095,0,0,0,0,0,0,26.06,25.63,26.06,10.14,46.45
$GC,785,1.80,487.5,2900,1712,1907,4095,24.1,12.5,95,795,0.00,1.00,0.00,0.000,1030,0.000,0.029,2900,2124,1907,1907,4095,0,0,0,0,0,0,25.96,25.94,26.00,10.16,47.40
$GC,835,1.80,487.5,2900,2123,1906,4095,18.5,11.3,101,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1906,1906,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.20,49.64
$GC,884,1.80,487.5,2900,2123,1905,4094,13.0,11.1,107,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1905,1905,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.20,50.74
$GC,932,1.80,487.5,2900,2123,1903,4094,7.7,11.1,113,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1903,1903,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.21,51.85
$GC,980,1.80,487.5,2900,2123,1902,4094,2.2,11.1,119,990,0.00,1.08,0.00,0.000,516,0.000,0.047,2901,1714,1901,1901,4094,0,0,0,0,0,0,26.46,25.99,26.48,10.22,51.89
$STATE,999,end climb,FINISH_DEPTH_REACHED
$STATE,1000,begin subsurface finish
$FINISH1,0.1,1.014647,0
$GC,1016,0.00,0.0,2900,2141,1901,4094,0.1,10.2,121,1034,5.55,0.00,-5.30,0.000,20486,0.024,0.000,2345,2143,2490,2490,4094,0,0,0,0,0,0,26.23,25.50,26.27,10.23,52.20
$FINISH2,0.3
$STATE,1035,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,085546
$TT8_MAMPS,0.025466,0.253162
$HUMID,52.63
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.56,74.706
$10V_AH,9.98,67.257
$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,34.550,7.100,57.000,0.000,0.000,24.911,16.126,269.811,0.000,0.000,17.497,357.544,0.000,111.552,770.344,418.604,0.000,326.745,0.000,304.187,0.000,0.542,0.000
$DEVICE_MAMPS,75.735,1210.995,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.642,334.188,264.456,392.227,511.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,10793,123
$CAP_FILE_SIZE,26476,0
$CFSIZE,1024409600,893976576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,101324,5944.588,-17120.463,7,0.9,16,8.2,0.3,146.1,10,4.9