version: 66.13
glider: 401
mission: 22
dive: 2579
start: 9 9 117 20 17 37
data:
$ID,401
$MISSION,22
$DIVE,2579
$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,15
$R_STBD_OVSHOOT,31
$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
$GPS1,090917,195650,5942.7368,-17116.0527,9,0.8,15,8.2,0.5,77.1,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-2.0
$GPS2,090917,195650,5942.7368,-17116.0527,9,0.8,15,8.2,0.5,77.1,11,4.7
$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,115.7,23351,-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,-487.5,2382,1958,2385,4091,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.019,0.000,1827,1958,2386,2386,4095,0,0,0,0,0,0,26.48,28.83,28.83,10.33,52.75
$GC,27,-1.80,-487.5,1826,1950,2386,4095,0.1,0.0,1,40,0.40,1.17,-6.35,0.000,20740,0.044,1.220,1781,2375,3055,3055,4094,0,0,0,0,0,0,26.15,23.95,26.19,10.33,53.46
$GC,142,-1.80,-487.5,1781,2374,3057,4094,13.5,-16.0,19,148,0.00,1.08,0.00,0.000,1030,0.000,0.028,1782,1948,3058,3058,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.48,53.03
$GC,184,-1.80,-487.5,1781,1948,3059,4094,20.8,-16.9,25,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1948,3059,3059,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.48,52.79
$GC,226,-1.80,-487.5,1781,1948,3059,4095,26.9,-12.6,31,232,0.00,1.10,0.00,0.000,516,0.000,0.054,1781,1517,3060,3060,4095,0,0,0,0,0,0,26.53,26.02,26.55,10.46,53.38
$GC,298,-1.80,-487.5,1781,1517,3062,4095,34.8,-11.8,42,305,0.00,1.00,0.00,0.000,1030,0.000,0.026,1781,1949,3062,3062,4094,0,0,0,0,0,0,26.28,26.26,26.31,10.41,51.61
$GC,341,-1.80,-487.5,1781,1948,3062,4094,39.9,-12.2,48,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1948,3062,3062,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.39,50.94
$GC,382,-1.80,-487.5,1781,1948,3063,4094,45.0,-12.6,54,388,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,1948,3063,3063,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.38,50.03
$GC,424,-1.80,-487.5,1781,1949,3064,4094,50.1,-12.3,60,431,0.00,1.10,0.00,0.000,260,0.000,0.048,1781,2368,3064,3064,4095,0,0,0,0,0,0,26.63,26.12,26.63,10.38,49.56
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,481,-0.45,0.0,1781,2119,3065,4095,55.6,-11.3,67,517,4.38,0.00,28.50,1.262,10244,0.053,0.000,2186,2119,2483,2483,4095,0,0,0,0,0,0,26.15,25.23,23.97,10.37,49.17
$STATE,518,end apogee,CONTROL_FINISHED_OK
$STATE,518,begin climb
$GC,524,1.80,487.5,2186,2118,2484,4095,59.3,0.0,73,566,7.60,0.00,28.23,1.244,11270,0.030,0.000,2901,2118,1916,1916,4095,0,0,0,0,0,0,25.70,25.89,23.58,10.24,48.38
$GC,602,1.80,487.5,2900,2118,1915,4095,54.1,12.2,85,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1915,1915,4094,0,0,0,0,0,0,25.66,25.68,25.67,10.12,47.55
$GC,644,1.80,487.5,2901,2118,1913,4094,48.9,12.8,91,651,0.00,1.02,0.00,0.000,516,0.000,0.047,2901,1728,1914,1914,4094,0,0,0,0,0,0,25.86,25.46,25.86,10.11,48.22
$GC,746,1.80,487.5,2901,1728,1911,4094,35.7,13.0,107,753,0.00,0.98,0.00,0.000,1030,0.000,0.030,2901,2125,1911,1911,4094,0,0,0,0,0,0,25.85,25.82,25.87,10.10,48.07
$GC,789,1.80,487.5,2901,2124,1909,4094,30.3,12.6,113,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1909,1909,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.10,48.58
$GC,831,1.80,487.5,2901,2124,1907,4094,25.0,12.9,119,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.11,49.17
$GC,872,1.80,487.5,2901,2124,1907,4094,20.2,11.1,125,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2125,1907,1907,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.14,49.72
$GC,914,1.80,487.5,2901,2125,1906,4094,15.7,11.0,131,920,0.00,1.05,0.00,0.000,516,0.000,0.050,2901,1731,1906,1906,4094,0,0,0,0,0,0,26.38,25.89,26.39,10.17,51.26
$STATE,1034,end climb,FINISH_DEPTH_REACHED
$STATE,1034,begin subsurface finish
$FINISH1,1.4,1.024343,88
$GC,1050,0.13,87.6,2901,2153,1902,4094,1.4,10.6,151,1064,5.30,0.00,-4.40,0.000,20486,0.022,0.000,2384,2148,2387,2387,4094,0,0,0,0,0,0,26.17,24.43,26.22,10.19,54.13
$FINISH2,0.1
$STATE,1064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1065,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,183801
$TT8_MAMPS,0.026215,0.113099
$HUMID,54.09
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.58,75.414
$10V_AH,10.30,67.825
$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,23.300,11.750,56.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,401.613,247.205,130.683,222.166,127.172,0.000,294.109,0.000,231.420,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1220.175,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,10834,153
$CAP_FILE_SIZE,25344,0
$CFSIZE,1024409600,892747776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,195650,5942.737,-17116.053,9,0.8,15,8.2,0.5,77.1,11,4.7