version: 66.13
glider: 401
mission: 22
dive: 2576
start: 9 9 117 19 5 34
data:
$ID,401
$MISSION,22
$DIVE,2576
$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,26
$R_STBD_OVSHOOT,32
$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
$GPS1,090917,184441,5942.8066,-17117.5566,7,0.8,25,8.2,0.3,80.6,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-4.9
$GPS2,090917,184441,5942.8066,-17117.5566,7,0.8,25,8.2,0.3,80.6,10,4.9
$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,114.1,24602,-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,-487.5,2383,1948,2386,4092,0.0,0.0,0,23,6.35,0.00,-2.05,0.000,20482,0.022,0.000,1765,1949,2604,2604,4094,0,0,0,0,0,0,26.14,28.83,26.19,10.33,53.34
$GC,30,-1.80,-487.5,1764,1948,2603,4094,0.1,0.0,1,40,0.00,1.25,-4.32,0.000,16644,0.000,1.220,1764,2371,3057,3057,4094,0,0,0,0,0,0,26.44,23.91,26.44,10.38,54.05
$GC,255,-1.80,-487.5,1764,2372,3062,4094,29.3,-12.2,33,265,0.00,1.05,0.00,0.000,1030,0.000,0.031,1765,1951,3063,3063,4095,0,0,0,0,0,0,26.17,26.13,26.21,10.44,52.91
$GC,305,-1.80,-487.5,1764,1950,3064,4095,35.4,-12.2,39,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1951,3064,3064,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.41,51.57
$GC,354,-1.80,-487.5,1764,1950,3065,4095,41.6,-12.9,45,363,0.00,1.10,0.00,0.000,516,0.000,0.053,1765,1513,3065,3065,4094,0,0,0,0,0,0,26.58,26.08,26.59,10.40,51.14
$GC,418,-1.80,-487.5,1764,1513,3067,4094,49.8,-13.5,53,426,0.00,1.02,0.00,0.000,1030,0.000,0.027,1765,1952,3067,3067,4095,0,0,0,0,0,0,26.32,26.28,26.33,10.38,49.05
$STATE,454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,454,begin apogee
$GC,468,-0.45,0.0,1765,2142,3067,4094,55.6,-13.2,58,511,4.57,0.00,28.67,1.260,10244,0.057,0.000,2186,2143,2484,2484,4095,0,0,0,0,0,0,26.13,24.81,23.98,10.38,49.21
$STATE,512,end apogee,CONTROL_FINISHED_OK
$STATE,512,begin climb
$GC,519,1.80,487.5,2186,2142,2484,4095,59.6,0.0,63,563,7.45,1.15,28.27,1.236,10756,0.029,0.043,2901,1705,1918,1918,4094,0,0,0,0,0,0,25.59,25.56,23.60,10.25,48.26
$GC,674,1.80,487.5,2901,1704,1914,4094,44.7,12.7,83,684,0.00,1.05,0.00,0.000,1030,0.000,0.028,2902,2129,1915,1915,4094,0,0,0,0,0,0,25.71,25.66,25.72,10.12,47.32
$GC,724,1.80,487.5,2901,2129,1913,4094,38.4,12.6,89,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1912,1912,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.11,48.30
$GC,773,1.80,487.5,2901,2129,1912,4094,32.3,12.4,95,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1911,1911,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.10,47.79
$GC,823,1.80,487.5,2901,2129,1911,4094,26.4,11.6,101,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1911,1911,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.10,48.14
$GC,872,1.94,579.6,2901,2129,1909,4094,21.0,9.4,107,884,0.35,1.12,6.50,0.643,10756,0.035,0.047,2944,1707,1807,1807,4094,0,0,0,0,0,0,26.10,25.41,24.22,10.15,49.37
$STATE,1042,end climb,FINISH_DEPTH_REACHED
$STATE,1042,begin subsurface finish
$FINISH1,1.7,1.024344,87
$GC,1058,0.13,87.5,2943,2155,1802,4094,1.7,9.7,131,1078,5.75,1.27,-5.12,0.000,20996,0.021,1.230,2377,1712,2385,2385,4094,0,0,0,0,0,0,26.20,23.87,26.23,10.18,53.58
$FINISH2,0.4
$STATE,1079,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1079,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,172437
$TT8_MAMPS,0.026215,0.264397
$HUMID,53.34
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.60,75.333
$10V_AH,9.97,67.765
$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,24.475,11.075,63.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,368.952,0.000,96.630,555.505,121.677,0.000,295.356,0.000,324.871,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,1230.120,1259.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.243,361.364,285.954,423.926,553.675,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330636
$DATA_FILE_SIZE,14326,133
$CAP_FILE_SIZE,21437,0
$CFSIZE,1024409600,892895232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,184441,5942.807,-17117.557,7,0.8,25,8.2,0.3,80.6,10,4.9