version: 66.13
glider: 401
mission: 22
dive: 2421
start: 9 7 117 4 32 59
data:
$ID,401
$MISSION,22
$DIVE,2421
$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,31
$R_STBD_OVSHOOT,18
$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
$GPS1,070917,035419,5953.0312,-17159.5801,10,1.1,22,7.9,0.3,16.6,9,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-2.3
$GPS2,070917,035419,5953.0312,-17159.5801,10,1.1,22,7.9,0.3,16.6,9,4.7
$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,103.5,32611,-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,-487.5,2381,1944,2376,4092,0.0,0.0,0,19,5.55,0.00,0.00,0.000,4097,0.021,0.000,1835,1944,2376,2376,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.33,53.78
$GC,26,-1.80,-487.5,1834,1944,2375,4094,0.0,0.0,1,39,0.50,1.20,-6.50,0.000,20996,0.031,1.244,1776,1529,3057,3057,4095,0,0,0,0,0,0,26.17,24.03,26.19,10.32,53.66
$GC,198,-1.80,-487.5,1775,1529,3062,4095,24.7,-17.2,28,205,0.00,1.02,0.00,0.000,1030,0.000,0.027,1776,1965,3062,3062,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.47,53.66
$GC,240,-1.80,-487.5,1776,1965,3062,4094,29.3,-11.6,34,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1965,3063,3063,4095,0,0,0,0,0,0,26.51,26.52,26.53,10.43,52.83
$GC,282,-1.80,-487.5,1775,1966,3064,4095,34.6,-12.4,40,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1966,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.40,52.52
$GC,323,-1.80,-487.5,1775,1966,3065,4095,40.0,-13.5,46,329,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1966,3065,3065,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.39,50.94
$GC,364,-1.80,-487.5,1775,1966,3066,4095,45.7,-14.0,52,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1966,3066,3066,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.38,50.35
$GC,405,-1.80,-487.5,1775,1966,3067,4094,51.3,-13.3,58,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1966,3067,3067,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.38,50.03
$STATE,429,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,442,-0.45,0.0,1776,2140,3068,4095,55.3,-13.8,62,478,4.40,0.00,28.45,1.258,10244,0.053,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.13,25.24,24.06,10.38,49.56
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,485,1.80,487.5,2184,2140,2484,4094,59.2,0.0,68,528,7.55,1.10,28.08,1.235,10756,0.030,0.042,2903,1716,1915,1915,4094,0,0,0,0,0,0,25.56,25.51,23.68,10.25,48.85
$GC,618,1.80,487.5,2902,1715,1913,4094,47.3,12.8,88,624,0.00,1.02,0.00,0.000,1030,0.000,0.029,2903,2129,1913,1913,4094,0,0,0,0,0,0,25.60,25.56,25.62,10.11,47.59
$GC,660,1.80,487.5,2902,2129,1911,4094,40.9,12.7,94,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,1911,1911,4094,0,0,0,0,0,0,26.00,26.01,26.01,10.10,48.07
$GC,702,1.80,487.5,2902,2128,1911,4094,35.6,13.1,100,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,1911,1911,4094,0,0,0,0,0,0,26.10,26.11,26.11,10.09,48.77
$GC,743,1.80,487.5,2902,2128,1909,4094,30.3,12.5,106,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,1909,1909,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.09,48.14
$GC,784,1.80,487.5,2902,2128,1908,4094,25.1,12.8,112,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2129,1908,1908,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.11,48.38
$GC,826,1.88,541.3,2902,2128,1907,4094,20.7,10.0,118,840,0.15,1.10,4.40,0.514,10756,0.057,0.044,2928,1712,1852,1852,4094,0,0,0,0,0,0,26.07,25.41,24.23,10.15,50.00
$GC,972,1.88,541.3,2928,1712,1848,4094,4.1,12.2,140,978,0.00,1.02,0.00,0.000,1030,0.000,0.029,2928,2133,1848,1848,4094,0,0,0,0,0,0,26.08,26.05,26.11,10.18,53.42
$STATE,983,end climb,SURFACE_DEPTH_REACHED
$STATE,983,begin surface coast
$FINISH,0.3,1.024226
$STATE,999,end surface coast,CONTROL_FINISHED_OK
$STATE,999,begin surface
$SM_CCo,1108,0.00,0.000,0,0,1846,548.65
$SM_GC,0.77,28.23,0.45,0.00,0.019,0.042,0.000,230,1953,1846,-6.59,1.69,548.65,0,0,0,0,0,0,25.82,26.09,25.95
$IRIDIUM_FIX,5955.74,-17228.01,070917,023714
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.09
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.40
$XPDR_PINGS,0
$24V_AH,23.68,70.876
$10V_AH,10.30,64.191
$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,46.375,7.775,60.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,388.156,291.185,149.603,209.612,140.447,0.000,304.530,0.000,218.717,0.000,0.541,0.000
$DEVICE_MAMPS,57.375,1243.890,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330616
$DATA_FILE_SIZE,10925,144
$CAP_FILE_SIZE,25223,0
$CFSIZE,1024409600,900481024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,045251,5953.243,-17158.010,2,0.8,38,7.9,0.7,33.3,10,4.9