version: 66.13
glider: 401
mission: 22
dive: 2425
start: 9 7 117 6 18 4
data:
$ID,401
$MISSION,22
$DIVE,2425
$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,11
$R_STBD_OVSHOOT,65
$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
$GPS1,070917,060610,5953.3218,-17156.0840,1,0.9,18,7.9,0.3,62.8,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-43.9
$GPS2,070917,061724,5953.3428,-17155.9355,10,0.9,39,7.9,0.9,44.1,9,4.9
$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,106.9,29710,-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,-487.5,230,1990,1876,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.086,0.000,710,1987,1876,1876,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.27,52.04
$GC,25,-1.80,-487.5,710,1989,1876,4094,0.5,0.0,1,56,11.38,1.38,-11.35,0.000,18948,0.052,1.236,1755,1508,3053,3053,4095,0,0,0,0,0,0,25.94,23.87,26.01,10.27,52.00
$GC,221,-1.80,-487.5,1754,1507,3058,4095,26.1,-18.0,32,227,0.00,0.98,0.00,0.000,1030,0.000,0.025,1754,1927,3059,3059,4094,0,0,0,0,0,0,26.13,26.11,26.15,10.52,51.02
$GC,263,-1.80,-487.5,1754,1927,3059,4094,31.6,-13.4,38,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1927,3059,3059,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.46,50.51
$GC,304,-1.80,-487.5,1754,1927,3061,4094,37.5,-14.1,44,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1928,3061,3061,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.44,49.48
$GC,346,-1.80,-487.5,1754,1928,3062,4094,43.5,-15.1,50,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1928,3062,3062,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.43,49.17
$GC,387,-1.80,-487.5,1754,1928,3063,4094,49.6,-15.2,56,393,0.00,1.15,0.00,0.000,260,0.000,0.044,1755,2367,3063,3063,4094,0,0,0,0,0,0,26.53,26.03,26.53,10.41,48.03
$STATE,417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,417,begin apogee
$GC,431,-0.45,0.0,1755,2103,3064,4095,55.0,-15.2,61,467,4.68,0.00,28.35,1.255,10244,0.054,0.000,2185,2101,2484,2484,4094,0,0,0,0,0,0,26.06,25.20,23.99,10.40,47.40
$STATE,468,end apogee,CONTROL_FINISHED_OK
$STATE,468,begin climb
$GC,474,1.80,487.5,2185,2100,2484,4094,59.2,0.0,67,515,7.65,0.00,28.10,1.234,11270,0.031,0.000,2902,2101,1915,1915,4094,0,0,0,0,0,0,25.62,25.81,23.64,10.28,47.12
$GC,551,1.80,487.5,2901,2101,1914,4094,53.6,12.9,79,558,0.00,0.95,0.00,0.000,516,0.000,0.044,2902,1734,1914,1914,4094,0,0,0,0,0,0,25.62,25.26,25.63,10.15,46.02
$GC,653,1.80,487.5,2902,1734,1911,4094,39.7,13.7,95,660,0.00,0.95,0.00,0.000,1030,0.000,0.028,2901,2123,1911,1911,4094,0,0,0,0,0,0,25.73,25.70,25.75,10.13,46.25
$GC,695,1.80,487.5,2901,2122,1910,4094,33.8,13.8,101,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2122,1910,1910,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.13,46.81
$GC,737,1.80,487.5,2901,2122,1908,4094,28.0,14.3,107,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1908,1908,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.12,46.61
$GC,778,1.82,495.4,2901,2123,1908,4094,23.0,10.7,113,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1907,1907,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.16,47.40
$GC,819,1.82,495.4,2901,2122,1906,4094,18.6,10.9,119,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1906,1906,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.19,50.00
$GC,861,1.82,495.4,2901,2123,1905,4094,13.9,11.2,125,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1905,1905,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.20,51.45
$GC,902,1.82,495.4,2901,2122,1904,4095,9.2,11.4,131,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2123,1904,1904,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.21,52.79
$GC,943,1.82,495.4,2901,2122,1903,4094,4.1,12.1,137,950,0.00,1.02,0.00,0.000,516,0.000,0.045,2902,1732,1902,1902,4094,0,0,0,0,0,0,26.41,25.95,26.43,10.21,52.40
$STATE,961,end climb,FINISH_DEPTH_REACHED
$STATE,962,begin subsurface finish
$FINISH1,1.6,1.024222,96
$GC,977,0.14,96.0,2902,2141,1901,4094,1.6,11.0,140,991,5.22,1.17,-4.35,0.000,20996,0.019,1.223,2383,1729,2379,2379,4094,0,0,0,0,0,0,26.17,23.99,26.21,10.23,52.55
$FINISH2,0.1
$STATE,992,end subsurface finish,CONTROL_FINISHED_OK
$STATE,992,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,050148
$TT8_MAMPS,0.025466,0.160286
$HUMID,53.42
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.64,71.005
$10V_AH,10.15,64.288
$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,34.525,9.300,56.450,0.000,0.000,23.327,25.831,295.067,0.000,0.000,41.047,378.381,214.256,142.031,517.248,416.871,0.000,307.276,0.000,217.568,0.000,0.542,0.000
$DEVICE_MAMPS,85.680,1236.240,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,10864,142
$CAP_FILE_SIZE,29435,0
$CFSIZE,1024409600,900284416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070917,061724,5953.343,-17155.936,10,0.9,39,7.9,0.9,44.1,9,4.9