version: 66.13
glider: 401
mission: 22
dive: 2563
start: 9 9 117 13 49 2
data:
$ID,401
$MISSION,22
$DIVE,2563
$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,31
$R_STBD_OVSHOOT,47
$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
$GPS1,090917,133652,5942.8081,-17119.4043,9,0.7,13,8.2,0.5,209.5,12,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-38.4
$GPS2,090917,134823,5942.7725,-17119.4805,6,0.7,15,8.2,0.0,221.9,12,4.7
$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,111.9,26111,-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,-487.5,237,1986,1849,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.100,0.000,704,1980,1850,1850,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.25,52.32
$GC,26,-1.80,-487.5,703,1984,1850,4094,0.7,0.0,1,57,11.25,1.10,-11.32,0.000,19204,0.042,1.222,1756,2355,3057,3057,4094,0,0,0,0,0,0,25.94,23.70,26.01,10.26,51.77
$GC,295,-1.80,-487.5,1755,2356,3062,4094,29.1,-12.7,44,301,0.00,1.00,0.00,0.000,1030,0.000,0.030,1756,1955,3062,3062,4095,0,0,0,0,0,0,26.14,26.10,26.16,10.47,50.70
$GC,337,-1.80,-487.5,1755,1955,3063,4095,34.7,-13.2,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1955,3064,3064,4095,0,0,0,0,0,0,26.51,26.51,26.52,10.45,50.47
$GC,379,-1.80,-487.5,1755,1955,3064,4095,40.3,-13.4,56,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1955,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,49.96
$GC,420,-1.80,-487.5,1755,1955,3065,4095,46.0,-14.0,62,426,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1955,3066,3066,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,48.85
$GC,462,-1.80,-487.5,1755,1955,3066,4095,51.8,-13.9,68,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1955,3066,3066,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.40,48.18
$STATE,479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,479,begin apogee
$GC,493,-0.45,0.0,1756,2128,3067,4095,55.2,-14.4,71,530,4.65,0.00,28.70,1.256,10244,0.055,0.000,2185,2129,2484,2484,4094,0,0,0,0,0,0,26.08,25.17,23.92,10.40,47.91
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,537,1.80,487.5,2185,2128,2484,4094,59.0,0.0,77,579,7.60,0.00,28.23,1.232,11270,0.029,0.000,2901,2129,1915,1915,4094,0,0,0,0,0,0,25.65,25.85,23.56,10.28,46.96
$GC,615,1.80,487.5,2900,2128,1915,4094,53.1,12.2,89,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1914,1914,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.15,46.25
$GC,656,1.80,487.5,2900,2128,1913,4094,47.7,13.3,95,663,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1709,1913,1913,4094,0,0,0,0,0,0,25.84,25.44,25.86,10.14,46.22
$GC,807,1.80,487.5,2900,1709,1908,4094,27.8,13.3,119,813,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2120,1908,1908,4094,0,0,0,0,0,0,25.93,25.88,25.95,10.12,47.44
$GC,849,1.80,487.5,2900,2120,1907,4094,22.5,11.9,125,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1906,1906,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.15,48.46
$GC,891,1.80,487.5,2900,2119,1906,4094,18.1,10.8,131,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1906,1906,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.18,49.25
$GC,932,1.80,487.5,2900,2120,1905,4094,13.5,11.2,137,939,0.00,1.10,0.00,0.000,516,0.000,0.050,2901,1708,1905,1905,4095,0,0,0,0,0,0,26.38,25.89,26.39,10.19,50.94
$STATE,1028,end climb,FINISH_DEPTH_REACHED
$STATE,1029,begin subsurface finish
$FINISH1,1.6,1.024337,88
$GC,1044,0.13,88.0,2901,2142,1902,4094,1.6,11.9,153,1058,5.28,0.00,-4.40,0.000,20486,0.020,0.000,2385,2143,2387,2387,4094,0,0,0,0,0,0,26.16,24.41,26.22,10.21,52.83
$FINISH2,0.1
$STATE,1059,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1059,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,123030
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.26
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.56,74.959
$10V_AH,10.13,67.453
$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,34.400,6.825,56.925,0.000,0.000,25.937,21.410,316.783,0.000,0.000,16.811,405.662,254.988,131.704,533.978,423.478,0.000,297.455,0.000,235.867,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1222.470,1256.130,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329368
$DATA_FILE_SIZE,10813,155
$CAP_FILE_SIZE,27456,0
$CFSIZE,1024409600,893534208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090917,134823,5942.772,-17119.480,6,0.7,15,8.2,0.0,221.9,12,4.7