version: 66.13
glider: 401
mission: 22
dive: 2417
start: 9 7 117 3 3 49
data:
$ID,401
$MISSION,22
$DIVE,2417
$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,23
$R_STBD_OVSHOOT,37
$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
$GPS1,070917,024252,5952.7808,-17200.7031,8,0.8,19,7.9,0.0,247.6,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-3.5
$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,-487.5,2384,1941,2373,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.018,0.000,1831,1942,2372,2372,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.34,52.67
$GC,25,-1.80,-487.5,1831,1942,2373,4094,0.1,0.0,1,39,0.47,1.23,-6.60,0.000,20996,0.035,1.243,1777,1518,3056,3056,4094,0,0,0,0,0,0,26.13,24.03,26.17,10.33,52.83
$GC,252,-1.80,-487.5,1776,1518,3062,4094,30.2,-13.0,37,258,0.00,1.00,0.00,0.000,1030,0.000,0.027,1776,1947,3062,3062,4094,0,0,0,0,0,0,26.24,26.21,26.25,10.43,52.52
$GC,294,-1.80,-487.5,1776,1946,3063,4094,35.7,-13.0,43,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.41,51.57
$GC,335,-1.80,-487.5,1776,1946,3064,4095,41.1,-13.1,49,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3064,3064,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.40,50.43
$GC,376,-1.80,-487.5,1777,1946,3066,4095,46.7,-13.2,55,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1947,3066,3066,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.39,49.48
$GC,417,-1.80,-487.5,1776,1947,3066,4095,52.3,-13.3,61,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3067,3067,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.38,49.13
$STATE,435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,448,-0.45,0.0,1777,2139,3067,4095,55.9,-14.0,64,484,4.43,0.00,28.42,1.257,10244,0.054,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.13,25.26,24.06,10.38,49.05
$STATE,485,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,491,1.80,487.5,2185,2139,2484,4094,59.4,0.0,70,533,7.62,0.00,28.02,1.234,11270,0.030,0.000,2900,2140,1915,1915,4094,0,0,0,0,0,0,25.66,25.86,23.70,10.25,48.07
$GC,568,1.80,487.5,2900,2139,1915,4094,53.6,12.0,82,575,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1711,1914,1914,4094,0,0,0,0,0,0,25.64,25.27,25.65,10.12,47.32
$GC,719,1.80,487.5,2900,1710,1910,4094,33.9,13.3,106,725,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2127,1910,1910,4094,0,0,0,0,0,0,25.84,25.79,25.87,10.10,48.18
$GC,761,1.80,487.5,2900,2127,1908,4094,28.3,13.8,112,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2127,1908,1908,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.10,48.77
$GC,803,1.80,487.5,2900,2126,1907,4094,22.9,12.3,118,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2127,1907,1907,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.12,48.38
$GC,844,1.80,487.5,2900,2126,1907,4094,18.5,10.9,124,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2127,1906,1906,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.16,50.23
$GC,885,1.80,487.5,2900,2126,1905,4094,14.0,10.8,130,891,0.00,1.10,0.00,0.000,516,0.000,0.046,2901,1710,1905,1905,4094,0,0,0,0,0,0,26.35,25.89,26.36,10.18,51.81
$STATE,987,end climb,FINISH_DEPTH_REACHED
$STATE,987,begin subsurface finish
$FINISH1,1.7,1.024223,96
$GC,1003,0.14,96.0,2900,2146,1902,4094,1.7,11.2,147,1017,5.25,1.23,-4.40,0.000,20740,0.021,1.235,2388,2564,2377,2377,4095,0,0,0,0,0,0,26.13,24.01,26.19,10.20,53.46
$FINISH2,0.0
$STATE,1018,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1018,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,012745
$TT8_MAMPS,0.025466,0.109354
$HUMID,53.93
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.70,70.769
$10V_AH,10.30,64.104
$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,23.350,8.825,56.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.133,249.285,118.551,216.230,109.304,0.000,272.336,0.000,225.774,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1243.125,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.211,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,10801,149
$CAP_FILE_SIZE,22295,0
$CFSIZE,1024409600,900677632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,024252,5952.781,-17200.703,8,0.8,19,7.9,0.0,247.6,11,5.0