version: 66.13
glider: 401
mission: 22
dive: 2556
start: 9 9 117 10 53 7
data:
$ID,401
$MISSION,22
$DIVE,2556
$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,33
$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
$GPS1,090917,101324,5944.5879,-17120.4629,7,0.9,16,8.2,0.3,146.1,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-3.5
$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,-487.5,2382,1944,2387,4092,0.0,0.0,0,22,6.30,0.00,-1.20,0.000,20482,0.021,0.000,1764,1945,2517,2517,4095,0,0,0,0,0,0,26.21,28.83,26.27,10.33,53.89
$GC,29,-1.80,-487.5,1764,1945,2517,4095,0.1,0.0,1,38,0.00,0.00,-4.85,0.000,16390,0.000,0.000,1764,1945,3057,3057,4095,0,0,0,0,0,0,26.53,24.52,26.54,10.37,53.85
$GC,78,-1.80,-487.5,1763,1945,3058,4095,4.3,-13.0,7,88,0.00,1.15,0.00,0.000,260,0.000,0.046,1764,2375,3058,3058,4095,0,0,0,0,0,0,26.50,26.03,26.51,10.48,53.74
$GC,199,-1.80,-487.5,1764,2375,3062,4095,24.8,-16.6,24,208,0.00,1.05,0.00,0.000,1030,0.000,0.028,1764,1958,3062,3062,4094,0,0,0,0,0,0,26.24,26.22,26.28,10.48,53.58
$GC,248,-1.80,-487.5,1763,1958,3063,4094,31.5,-13.1,30,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3063,3063,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.44,53.15
$GC,296,-1.80,-487.5,1763,1958,3063,4094,38.1,-13.8,36,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3065,3065,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.41,52.28
$GC,345,-1.80,-487.5,1764,1958,3066,4095,44.7,-13.3,42,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3066,3066,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.39,51.14
$GC,392,-1.80,-487.5,1764,1958,3067,4095,51.3,-14.5,48,400,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1958,3067,3067,4095,0,0,0,0,0,0,26.65,26.66,26.65,10.39,50.00
$STATE,414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,414,begin apogee
$GC,428,-0.45,0.0,1764,2145,3068,4095,55.2,-13.8,51,470,4.53,0.00,28.48,1.259,10244,0.054,0.000,2184,2145,2488,2488,4094,0,0,0,0,0,0,26.17,24.82,23.99,10.38,49.92
$STATE,471,end apogee,CONTROL_FINISHED_OK
$STATE,472,begin climb
$GC,478,1.80,487.5,2184,2145,2488,4094,59.6,0.0,56,522,7.60,0.00,28.48,1.242,11270,0.030,0.000,2901,2146,1916,1916,4094,0,0,0,0,0,0,25.72,25.95,23.62,10.26,49.05
$GC,564,1.80,487.5,2901,2145,1915,4094,53.0,12.7,66,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1914,1914,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.13,47.51
$GC,615,1.80,487.5,2901,2145,1913,4094,46.5,12.9,72,623,0.00,1.17,0.00,0.000,516,0.000,0.046,2901,1707,1913,1913,4094,0,0,0,0,0,0,25.93,25.51,25.94,10.12,47.32
$GC,763,1.80,487.5,2901,1707,1909,4094,27.6,12.2,93,773,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2127,1908,1908,4094,0,0,0,0,0,0,25.96,25.92,25.96,10.13,48.62
$GC,815,1.83,503.7,2901,2126,1907,4094,21.8,10.5,99,824,0.00,0.00,2.38,0.165,8198,0.000,0.000,2902,2127,1897,1897,4094,0,0,0,0,0,0,26.32,24.56,23.83,10.17,50.07
$GC,866,1.86,528.2,2901,2126,1896,4094,16.4,10.4,105,876,0.10,0.00,3.22,0.344,10246,0.075,0.000,2922,2126,1867,1867,4095,0,0,0,0,0,0,26.15,24.76,24.10,10.18,51.85
$GC,918,1.86,528.2,2921,2126,1866,4095,10.5,11.2,111,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2126,1866,1866,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.19,52.48
$GC,968,1.86,528.2,2922,2126,1864,4094,5.0,10.8,117,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2127,1864,1864,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.20,53.07
$STATE,990,end climb,SURFACE_DEPTH_REACHED
$STATE,990,begin surface coast
$FINISH,0.1,1.024301
$STATE,1005,end surface coast,CONTROL_FINISHED_OK
$STATE,1005,begin surface
$SM_CCo,1115,0.00,0.000,0,0,1863,534.05
$SM_GC,1.02,27.92,0.47,0.00,0.019,0.035,0.000,231,1926,1863,-6.59,0.82,534.05,0,0,0,0,0,0,25.97,26.18,26.06
$IRIDIUM_FIX,5955.74,-17228.01,090917,085546
$TT8_MAMPS,0.025466,0.250915
$HUMID,53.07
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.62,74.747
$10V_AH,9.95,67.296
$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,46.450,5.750,62.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,356.967,60.378,130.124,502.590,136.838,0.000,327.723,0.000,299.280,0.000,0.543,0.000
$DEVICE_MAMPS,74.970,45.900,1259.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.132,331.457,262.338,388.537,501.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,10789,122
$CAP_FILE_SIZE,24690,0
$CFSIZE,1024409600,893878272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,111246,5943.979,-17119.715,9,0.9,17,8.2,0.0,176.4,10,4.9