version: 66.13
glider: 401
mission: 22
dive: 2433
start: 9 7 117 9 17 15
data:
$ID,401
$MISSION,22
$DIVE,2433
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,070917,083835,5952.8882,-17152.2617,10,0.8,17,7.9,0.5,160.5,10,4.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-3.0
$GPS2,070917,083835,5952.8882,-17152.2617,10,0.8,17,7.9,0.5,160.5,10,4.5
$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,108.3,26256,-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,-487.5,2387,1962,2374,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.021,0.000,1836,1963,2374,2374,4095,0,0,0,0,0,0,26.44,28.83,28.83,10.33,53.97
$GC,25,-1.80,-487.5,1835,1963,2374,4095,0.2,0.0,1,39,0.52,1.20,-6.55,0.000,20996,0.036,1.237,1778,1540,3058,3058,4094,0,0,0,0,0,0,26.13,24.03,26.16,10.33,53.74
$GC,216,-1.80,-487.5,1778,1539,3063,4094,26.4,-17.0,31,222,0.00,0.95,0.00,0.000,1030,0.000,0.027,1778,1947,3063,3063,4095,0,0,0,0,0,0,26.20,26.18,26.23,10.48,54.09
$GC,258,-1.80,-487.5,1777,1947,3064,4095,31.8,-12.2,37,264,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1947,3064,3064,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.43,53.18
$GC,299,-1.80,-487.5,1777,1947,3065,4094,36.9,-12.2,43,306,0.00,1.10,0.00,0.000,260,0.000,0.045,1778,2372,3065,3065,4094,0,0,0,0,0,0,26.54,26.08,26.55,10.41,51.85
$GC,377,-1.80,-487.5,1777,2372,3066,4094,46.7,-12.8,55,384,0.00,1.00,0.00,0.000,1030,0.000,0.030,1778,1975,3066,3066,4094,0,0,0,0,0,0,26.26,26.22,26.28,10.38,50.51
$GC,419,-1.80,-487.5,1777,1975,3068,4094,52.5,-13.6,61,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1975,3068,3068,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.38,49.72
$STATE,437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,437,begin apogee
$GC,450,-0.45,0.0,1777,2139,3068,4094,55.8,-14.1,64,486,4.40,0.00,28.48,1.263,10244,0.053,0.000,2186,2139,2484,2484,4095,0,0,0,0,0,0,26.13,25.25,24.04,10.38,50.03
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2186,2139,2484,4095,59.5,0.0,70,536,7.55,1.12,28.17,1.236,10500,0.030,0.051,2905,2559,1915,1915,4094,0,0,0,0,0,0,25.54,25.48,23.65,10.25,48.81
$GC,553,1.80,487.5,2905,2559,1915,4094,55.8,10.9,79,560,0.00,1.10,0.00,0.000,1030,0.000,0.027,2905,2133,1915,1915,4094,0,0,0,0,0,0,25.29,25.26,25.30,10.13,47.55
$GC,596,1.80,487.5,2905,2132,1914,4094,50.5,12.8,85,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2133,1914,1914,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.11,47.79
$GC,637,1.80,487.5,2905,2132,1913,4094,45.0,13.2,91,644,0.00,1.10,0.00,0.000,516,0.000,0.047,2905,1712,1913,1913,4094,0,0,0,0,0,0,25.91,25.49,25.92,10.11,47.36
$GC,745,1.80,487.5,2905,1711,1910,4094,31.1,12.8,108,752,0.00,1.02,0.00,0.000,1030,0.000,0.029,2906,2130,1909,1909,4094,0,0,0,0,0,0,25.87,25.84,25.89,10.10,48.38
$GC,787,1.80,487.5,2905,2130,1908,4094,25.7,12.5,114,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2130,1909,1909,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.10,48.89
$GC,829,1.85,517.3,2905,2130,1907,4094,21.4,10.3,120,836,0.00,0.00,3.15,0.355,8198,0.000,0.000,2906,2130,1880,1880,4094,0,0,0,0,0,0,26.29,25.21,24.10,10.15,50.19
$GC,872,1.96,590.8,2904,2130,1879,4094,17.2,9.7,126,885,0.38,0.00,5.68,0.575,10246,0.033,0.000,2949,2130,1794,1794,4094,0,0,0,0,0,0,26.07,24.98,24.34,10.17,51.45
$GC,920,1.96,590.8,2947,2130,1792,4094,11.2,12.7,133,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2130,1793,1793,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.16,52.79
$GC,962,1.96,590.8,2948,2130,1791,4094,6.2,11.5,139,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2130,1791,1791,4095,0,0,0,0,0,0,26.34,26.36,26.35,10.18,53.18
$STATE,997,end climb,SURFACE_DEPTH_REACHED
$STATE,997,begin surface coast
$FINISH,0.0,1.015165
$STATE,1010,end surface coast,CONTROL_FINISHED_OK
$STATE,1010,begin surface
$SM_CCo,1120,0.00,0.000,0,0,1789,596.73
$SM_GC,0.88,28.33,0.47,0.00,0.018,0.048,0.000,239,1952,1789,-6.55,1.23,596.73,0,0,0,0,0,0,26.15,26.03,26.18
$IRIDIUM_FIX,5955.74,-17228.01,070917,072202
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.48
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.30
$XPDR_PINGS,0
$24V_AH,23.65,71.215
$10V_AH,10.31,64.463
$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,46.800,10.000,65.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,394.236,293.740,154.216,213.357,136.179,0.000,313.389,0.000,222.996,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1237.005,1263.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.585,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330620
$DATA_FILE_SIZE,10845,147
$CAP_FILE_SIZE,26974,0
$CFSIZE,1024409600,899891200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,093658,5952.448,-17151.029,2,0.8,17,8.0,0.4,148.9,10,4.7