version: 66.13
glider: 401
mission: 22
dive: 2410
start: 9 7 117 0 23 5
data:
$ID,401
$MISSION,22
$DIVE,2410
$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,27
$R_STBD_OVSHOOT,53
$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
$GPS1,070917,000936,5952.7271,-17201.2617,5,0.7,21,7.9,0.6,309.2,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-42.5
$GPS2,070917,002226,5952.6904,-17201.5020,5,0.9,50,7.9,0.0,253.0,8,3.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,101.4,34073,-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,11,-1.80,-487.5,237,1983,1867,4092,0.0,0.0,0,21,7.55,0.00,0.00,0.000,2049,0.099,0.000,864,1985,1867,1867,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.27,52.08
$GC,27,-1.80,-487.5,864,1985,1867,4094,0.7,0.0,1,55,9.50,1.33,-11.40,0.000,18948,0.040,1.229,1753,1521,3056,3056,4095,0,0,0,0,0,0,25.94,23.89,26.01,10.28,51.57
$GC,210,-1.80,-487.5,1752,1521,3061,4095,24.3,-17.5,26,219,0.00,0.98,0.00,0.000,1030,0.000,0.028,1753,1930,3061,3061,4094,0,0,0,0,0,0,26.14,26.12,26.17,10.53,51.57
$GC,259,-1.80,-487.5,1752,1931,3062,4094,31.9,-14.2,32,268,0.00,1.15,0.00,0.000,260,0.000,0.044,1753,2371,3062,3062,4095,0,0,0,0,0,0,26.47,25.98,26.48,10.48,50.63
$GC,328,-1.80,-487.5,1752,2371,3063,4095,41.0,-13.5,41,337,0.00,1.05,0.00,0.000,1030,0.000,0.028,1753,1948,3064,3064,4095,0,0,0,0,0,0,26.15,26.13,26.19,10.44,49.01
$GC,377,-1.80,-487.5,1752,1948,3065,4095,48.1,-13.9,47,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3065,3065,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.42,47.71
$STATE,420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,434,-0.45,0.0,1753,2148,3066,4094,55.3,-14.7,53,470,4.68,0.00,28.62,1.261,10244,0.054,0.000,2184,2148,2484,2484,4094,0,0,0,0,0,0,26.07,25.20,24.00,10.40,46.88
$STATE,471,end apogee,CONTROL_FINISHED_OK
$STATE,471,begin climb
$GC,477,1.80,487.5,2184,2148,2484,4094,59.8,0.0,57,521,7.62,0.00,28.33,1.237,11270,0.029,0.000,2901,2148,1915,1915,4094,0,0,0,0,0,0,25.63,25.82,23.65,10.28,46.22
$GC,562,1.80,487.5,2900,2148,1914,4094,53.5,11.9,67,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2148,1913,1913,4094,0,0,0,0,0,0,25.67,25.68,25.67,10.15,45.07
$GC,612,1.80,487.5,2900,2148,1912,4094,46.6,13.5,73,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2148,1912,1912,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.14,45.58
$GC,662,1.80,487.5,2900,2148,1911,4094,40.2,12.8,79,671,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1716,1910,1910,4094,0,0,0,0,0,0,26.03,25.60,26.03,10.14,45.82
$GC,833,1.86,526.8,2901,1716,1905,4094,20.8,10.2,103,844,0.10,0.98,3.55,0.409,11270,0.050,0.029,2921,2120,1869,1869,4094,0,0,0,0,0,0,25.93,26.00,24.20,10.20,49.92
$GC,886,1.86,526.8,2920,2119,1867,4094,14.8,10.9,109,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2119,1868,1868,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.21,51.37
$GC,935,1.86,526.8,2920,2119,1866,4094,8.8,12.0,115,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2120,1866,1866,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.21,52.44
$GC,985,1.86,526.8,2920,2119,1864,4094,2.7,12.4,121,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2120,1864,1864,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.22,51.96
$STATE,1001,end climb,FINISH_DEPTH_REACHED
$STATE,1001,begin subsurface finish
$FINISH1,0.1,1.024198,98
$GC,1015,0.15,97.7,2921,2128,1864,4094,0.1,12.1,123,1033,5.32,1.17,-4.80,0.000,20996,0.021,1.241,2399,1721,2375,2375,4094,0,0,0,0,0,0,26.17,24.01,26.22,10.22,52.20
$FINISH2,-0.1
$STATE,1034,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1035,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,001416
$TT8_MAMPS,0.025466,0.244923
$HUMID,53.07
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.65,70.582
$10V_AH,10.01,63.958
$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,34.775,8.300,60.500,0.000,0.000,53.686,49.367,279.859,0.000,0.000,51.755,363.873,44.617,107.070,895.643,396.417,0.000,314.227,0.000,307.214,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1240.830,1261.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.199,339.659,268.751,398.106,515.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,10796,125
$CAP_FILE_SIZE,27242,0
$CFSIZE,1024409600,901021696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070917,002226,5952.690,-17201.502,5,0.9,50,7.9,0.0,253.0,8,3.0