version: 66.13
glider: 401
mission: 22
dive: 2573
start: 9 9 117 17 51 38
data:
$ID,401
$MISSION,22
$DIVE,2573
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,090917,173051,5942.7070,-17118.7793,7,1.2,52,8.2,0.0,179.7,8,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-4.0
$GPS2,090917,173051,5942.7070,-17118.7793,7,1.2,52,8.2,0.0,179.7,8,3.5
$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,112.4,25483,-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,-487.5,2380,1942,2389,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.021,0.000,1827,1942,2389,2389,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.33,53.30
$GC,26,-1.80,-487.5,1827,1942,2389,4094,0.1,0.0,1,40,0.43,1.20,-6.32,0.000,21252,0.037,1.216,1778,2375,3055,3055,4095,0,0,0,0,0,0,26.17,23.94,26.20,10.33,52.52
$GC,277,-1.80,-487.5,1777,2376,3061,4095,28.3,-14.0,41,284,0.00,1.05,0.00,0.000,1030,0.000,0.031,1778,1955,3061,3061,4095,0,0,0,0,0,0,26.20,26.16,26.23,10.44,52.28
$GC,320,-1.80,-487.5,1777,1955,3062,4095,33.5,-12.0,47,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1955,3062,3062,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.42,52.24
$GC,361,-1.80,-487.5,1777,1955,3063,4094,38.7,-12.2,53,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1955,3063,3063,4094,0,0,0,0,0,0,26.60,26.61,26.61,10.40,50.86
$GC,403,-1.80,-487.5,1777,1955,3064,4094,43.9,-12.9,59,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1955,3064,3064,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.39,50.59
$GC,445,-1.80,-487.5,1778,1955,3065,4095,49.2,-12.7,65,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1955,3065,3065,4095,0,0,0,0,0,0,26.63,26.65,26.64,10.38,49.17
$GC,486,-1.80,-487.5,1777,1955,3066,4095,54.5,-12.9,71,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1955,3066,3066,4095,0,0,0,0,0,0,26.65,26.65,26.65,10.38,48.85
$STATE,497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,497,begin apogee
$GC,511,-0.45,0.0,1777,2144,3067,4094,56.7,-12.9,73,547,4.38,0.00,28.60,1.267,10244,0.053,0.000,2185,2144,2484,2484,4095,0,0,0,0,0,0,26.17,25.22,23.99,10.38,48.74
$STATE,548,end apogee,CONTROL_FINISHED_OK
$STATE,548,begin climb
$GC,555,1.80,487.5,2185,2144,2484,4095,60.5,0.0,79,598,7.50,1.12,28.27,1.245,10756,0.030,0.044,2901,1714,1915,1915,4094,0,0,0,0,0,0,25.58,25.53,23.59,10.25,48.34
$GC,688,1.80,487.5,2901,1714,1913,4094,49.1,12.6,99,695,0.00,1.05,0.00,0.000,1030,0.000,0.029,2901,2136,1913,1913,4094,0,0,0,0,0,0,25.63,25.58,25.65,10.11,47.99
$GC,731,1.80,487.5,2901,2136,1912,4094,42.8,12.8,105,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1911,1911,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.11,47.40
$GC,773,1.80,487.5,2901,2136,1911,4094,37.3,13.1,111,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1911,1911,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.11,48.62
$GC,815,1.80,487.5,2901,2136,1909,4094,31.9,12.8,117,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.10,48.46
$GC,856,1.80,487.5,2901,2136,1908,4094,26.5,13.2,123,862,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.10,48.30
$GC,898,1.80,487.5,2901,2136,1907,4094,21.4,10.8,129,904,0.00,1.12,0.00,0.000,516,0.000,0.047,2902,1713,1907,1907,4094,0,0,0,0,0,0,26.33,25.84,26.34,10.13,48.93
$GC,1084,1.85,520.9,2901,1712,1902,4094,3.0,10.3,158,1091,0.00,1.02,3.08,0.263,9222,0.000,0.031,2901,2135,1875,1875,4094,0,0,0,0,0,0,26.17,26.14,24.14,10.19,53.70
$STATE,1096,end climb,FINISH_DEPTH_REACHED
$STATE,1096,begin subsurface finish
$FINISH1,0.5,1.024346,87
$GC,1111,0.13,87.4,2901,2142,1875,4094,0.5,10.0,160,1125,5.32,0.00,-4.68,0.000,20486,0.023,0.000,2382,2138,2388,2388,4095,0,0,0,0,0,0,26.17,24.43,26.23,10.20,53.74
$FINISH2,0.2
$STATE,1126,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1126,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,161502
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.56
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.59,75.246
$10V_AH,10.30,67.685
$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,23.250,7.525,59.950,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,421.527,268.781,126.309,234.976,137.899,0.000,293.207,0.000,244.077,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1215.585,1266.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.933,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,10818,162
$CAP_FILE_SIZE,24520,0
$CFSIZE,1024409600,893042688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,173051,5942.707,-17118.779,7,1.2,52,8.2,0.0,179.7,8,3.5