version: 66.13
glider: 401
mission: 22
dive: 2426
start: 9 7 117 6 36 45
data:
$ID,401
$MISSION,22
$DIVE,2426
$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,47
$R_STBD_OVSHOOT,33
$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
$GPS1,070917,061724,5953.3428,-17155.9355,10,0.9,39,7.9,0.9,44.1,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-3.1
$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,6,begin dive
$GC,12,-1.80,-487.5,2383,1964,2378,4091,0.0,0.0,0,22,6.35,0.00,-1.15,0.000,20482,0.021,0.000,1759,1965,2499,2499,4094,0,0,0,0,0,0,26.22,28.83,26.26,10.35,53.34
$GC,29,-1.80,-487.5,1758,1965,2499,4094,0.1,0.0,1,39,0.00,1.23,-5.43,0.000,16900,0.000,1.252,1759,1546,3057,3057,4094,0,0,0,0,0,0,26.49,24.06,26.50,10.37,53.74
$GC,247,-1.80,-487.5,1758,1546,3062,4094,26.4,-18.0,32,257,0.00,0.95,0.00,0.000,1030,0.000,0.027,1758,1954,3062,3062,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.48,53.62
$GC,297,-1.80,-487.5,1758,1954,3063,4095,32.9,-13.3,38,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1955,3063,3063,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.43,52.28
$GC,346,-1.80,-487.5,1758,1954,3065,4095,39.5,-14.0,44,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1954,3065,3065,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.42,50.90
$GC,396,-1.80,-487.5,1757,1955,3066,4095,46.4,-13.8,50,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3066,3066,4094,0,0,0,0,0,0,26.63,26.64,26.63,10.39,49.48
$GC,445,-1.80,-487.5,1758,1954,3067,4094,53.6,-14.5,56,454,0.00,1.08,0.00,0.000,260,0.000,0.044,1758,2368,3067,3067,4095,0,0,0,0,0,0,26.64,26.17,26.65,10.39,48.89
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,476,-0.45,0.0,1758,2130,3068,4094,57.1,-14.5,58,519,4.62,0.00,28.62,1.291,10244,0.054,0.000,2186,2124,2483,2483,4094,0,0,0,0,0,0,26.15,24.87,24.07,10.38,48.93
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,526,1.80,487.5,2186,2123,2483,4094,62.0,0.0,63,570,7.60,0.00,28.12,1.265,11270,0.031,0.000,2900,2124,1915,1915,4095,0,0,0,0,0,0,25.70,25.91,23.63,10.26,48.38
$GC,611,1.80,487.5,2900,2123,1914,4095,55.7,11.9,73,621,0.00,1.02,0.00,0.000,516,0.000,0.045,2900,1739,1915,1915,4095,0,0,0,0,0,0,25.69,25.31,25.70,10.13,46.81
$GC,745,1.80,487.5,2900,1739,1911,4095,38.2,13.1,92,754,0.00,0.93,0.00,0.000,1030,0.000,0.029,2900,2119,1910,1910,4094,0,0,0,0,0,0,25.82,25.80,25.85,10.11,47.79
$GC,795,1.80,487.5,2900,2119,1909,4094,31.9,13.0,98,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2119,1908,1908,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.10,47.95
$GC,843,1.80,487.5,2900,2119,1907,4094,25.3,13.3,104,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2119,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.11,47.48
$GC,892,1.83,506.3,2900,2119,1906,4094,20.0,10.5,110,902,0.00,0.00,2.47,0.195,8198,0.000,0.000,2900,2119,1894,1894,4094,0,0,0,0,0,0,26.33,24.70,24.03,10.17,49.48
$GC,943,1.83,506.3,2899,2119,1893,4094,14.7,11.2,116,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2119,1892,1892,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.18,51.14
$GC,993,1.83,506.3,2900,2119,1891,4095,9.0,12.2,122,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2119,1891,1891,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.20,52.20
$GC,1042,1.84,511.0,2900,2119,1890,4094,4.2,10.7,128,1052,0.00,0.98,0.00,0.000,516,0.000,0.044,2900,1741,1890,1890,4094,0,0,0,0,0,0,26.45,25.98,26.46,10.21,52.67
$STATE,1059,end climb,FINISH_DEPTH_REACHED
$STATE,1059,begin subsurface finish
$FINISH1,1.1,1.024217,96
$GC,1075,0.14,96.4,2900,2136,1889,4095,1.1,12.1,130,1094,5.25,0.00,-4.55,0.000,20998,0.022,0.000,2383,2145,2376,2376,4095,0,0,0,0,0,0,26.19,25.48,26.24,10.21,52.99
$FINISH2,0.0
$STATE,1095,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1095,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,050148
$TT8_MAMPS,0.025466,0.247919
$HUMID,53.38
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.63,71.026
$10V_AH,9.98,64.318
$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,23.825,8.250,59.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,372.325,0.000,110.365,548.412,126.336,0.000,325.010,0.000,321.835,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1252.305,1290.555,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.110,358.704,283.817,420.940,546.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330648
$DATA_FILE_SIZE,14385,132
$CAP_FILE_SIZE,23954,0
$CFSIZE,1024409600,900235264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,061724,5953.343,-17155.936,10,0.9,39,7.9,0.9,44.1,9,4.9