version: 66.13
glider: 401
mission: 22
dive: 2416
start: 9 7 117 2 43 31
data:
$ID,401
$MISSION,22
$DIVE,2416
$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,17
$R_STBD_OVSHOOT,27
$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
$GPS1,070917,023232,5952.7661,-17200.6250,5,0.9,25,7.9,0.4,310.5,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-35.1
$GPS2,070917,024252,5952.7808,-17200.7031,8,0.8,19,7.9,0.0,247.6,11,5.0
$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,102.1,33427,-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,-487.5,240,1956,1869,4092,0.0,0.0,0,22,8.43,0.00,0.00,0.000,2049,0.093,0.000,948,1955,1869,1869,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,52.44
$GC,28,-1.80,-487.5,947,1954,1869,4094,0.6,0.0,1,55,8.68,1.23,-11.50,0.000,18948,0.042,1.227,1754,1511,3057,3057,4095,0,0,0,0,0,0,25.91,23.86,25.95,10.27,52.91
$GC,257,-1.80,-487.5,1753,1508,3062,4095,22.7,-18.3,33,266,0.00,1.05,0.00,0.000,1030,0.000,0.026,1754,1958,3062,3062,4095,0,0,0,0,0,0,26.16,26.14,26.17,10.52,51.61
$GC,306,-1.80,-487.5,1753,1958,3063,4095,29.9,-12.9,39,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1958,3063,3063,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.47,51.10
$GC,354,-1.80,-487.5,1753,1958,3064,4095,36.4,-13.7,45,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1958,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.44,50.39
$GC,402,-1.80,-487.5,1753,1958,3066,4095,43.0,-14.1,51,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1958,3066,3066,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.42,48.18
$GC,450,-1.80,-487.5,1753,1958,3067,4095,50.0,-14.6,57,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1958,3066,3066,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.40,47.48
$STATE,480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,480,begin apogee
$GC,493,-0.45,0.0,1753,2144,3068,4095,55.2,-14.7,61,530,4.68,0.00,28.50,1.259,10244,0.056,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.08,25.22,24.02,10.39,47.12
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,537,1.80,487.5,2186,2143,2484,4094,59.4,0.0,65,581,7.62,0.00,28.02,1.233,11270,0.030,0.000,2902,2144,1920,1920,4094,0,0,0,0,0,0,25.64,25.84,23.67,10.27,46.37
$GC,623,1.80,487.5,2901,2144,1919,4094,52.9,11.7,75,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1919,1919,4094,0,0,0,0,0,0,25.68,25.70,25.69,10.15,45.27
$GC,673,1.80,487.5,2901,2144,1918,4094,46.6,12.9,81,682,0.00,1.17,0.00,0.000,516,0.000,0.044,2901,1701,1918,1918,4094,0,0,0,0,0,0,25.89,25.48,25.90,10.13,45.66
$GC,800,1.80,487.5,2901,1701,1914,4094,29.7,12.8,99,810,0.00,1.05,0.00,0.000,1030,0.000,0.028,2902,2130,1913,1913,4094,0,0,0,0,0,0,25.89,25.86,25.91,10.11,46.61
$GC,850,1.80,487.5,2901,2130,1912,4094,23.3,12.6,105,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1912,1912,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.13,46.85
$GC,899,1.85,520.7,2901,2130,1911,4094,18.3,10.3,111,908,0.00,0.00,3.55,0.401,8198,0.000,0.000,2902,2130,1875,1875,4094,0,0,0,0,0,0,26.32,24.87,24.20,10.17,48.66
$GC,950,1.92,564.3,2901,2130,1874,4094,13.2,10.1,117,961,0.28,1.12,4.05,0.430,10756,0.039,0.045,2939,1703,1824,1824,4095,0,0,0,0,0,0,26.10,25.46,24.36,10.18,50.59
$STATE,1047,end climb,FINISH_DEPTH_REACHED
$STATE,1047,begin subsurface finish
$FINISH1,1.3,1.024237,95
$GC,1068,0.14,95.0,2939,2158,1821,4094,1.3,11.7,131,1086,5.68,0.00,-5.12,0.000,20486,0.024,0.000,2385,2158,2373,2373,4095,0,0,0,0,0,0,26.14,25.45,26.18,10.21,52.63
$FINISH2,0.0
$STATE,1087,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1087,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,012745
$TT8_MAMPS,0.025466,0.25466
$HUMID,52.55
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.67,70.749
$10V_AH,10.00,64.094
$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,35.350,7.150,64.125,0.000,0.000,25.848,18.710,272.096,0.000,0.000,20.584,377.766,0.000,107.749,827.473,397.308,0.000,324.456,0.000,327.413,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1227.060,1259.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.889,361.471,285.921,424.121,553.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329348
$DATA_FILE_SIZE,14439,133
$CAP_FILE_SIZE,27184,0
$CFSIZE,1024409600,900726784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070917,024252,5952.781,-17200.703,8,0.8,19,7.9,0.0,247.6,11,5.0