version: 66.13
glider: 401
mission: 22
dive: 2451
start: 9 7 117 16 16 19
data:
$ID,401
$MISSION,22
$DIVE,2451
$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,25
$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
$GPS1,070917,153729,5951.1680,-17148.4707,14,1.0,20,8.0,0.2,335.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.3
$GPS2,070917,153729,5951.1680,-17148.4707,14,1.0,20,8.0,0.2,335.9,11,4.8
$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,104.8,21716,-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,-487.5,2385,1948,2375,4092,0.0,0.0,0,20,5.65,0.00,0.00,0.000,4097,0.021,0.000,1830,1948,2375,2375,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.34,53.62
$GC,26,-1.80,-487.5,1830,1948,2375,4094,0.1,0.0,1,40,0.45,1.27,-6.55,0.000,21252,0.033,1.232,1776,2370,3056,3056,4095,0,0,0,0,0,0,26.19,24.01,26.20,10.34,53.26
$GC,76,-1.80,-487.5,1775,2371,3057,4095,1.7,-7.0,8,82,0.00,1.08,0.00,0.000,1030,0.000,0.033,1776,1944,3057,3057,4094,0,0,0,0,0,0,26.07,26.03,26.10,10.49,53.81
$GC,118,-1.80,-487.5,1775,1944,3058,4094,7.8,-15.3,14,124,0.00,1.15,0.00,0.000,260,0.000,0.044,1775,2371,3058,3058,4095,0,0,0,0,0,0,26.43,25.98,26.44,10.48,53.97
$GC,361,-1.80,-487.5,1775,2371,3065,4095,43.6,-12.9,53,368,0.00,1.02,0.00,0.000,1030,0.000,0.028,1776,1963,3065,3065,4094,0,0,0,0,0,0,26.27,26.24,26.29,10.39,51.45
$GC,403,-1.80,-487.5,1775,1963,3066,4094,49.2,-14.0,59,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1964,3066,3066,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.38,50.39
$GC,445,-1.80,-487.5,1775,1963,3067,4095,54.9,-13.9,65,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1964,3067,3067,4095,0,0,0,0,0,0,26.60,26.63,26.62,10.38,49.88
$STATE,455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,456,begin apogee
$GC,469,-0.45,0.0,1775,2143,3068,4094,57.4,-15.0,67,505,4.43,0.00,28.48,1.274,10244,0.054,0.000,2185,2143,2483,2483,4094,0,0,0,0,0,0,26.14,25.25,24.03,10.38,50.15
$STATE,506,end apogee,CONTROL_FINISHED_OK
$STATE,506,begin climb
$GC,512,1.80,487.5,2185,2143,2484,4094,61.3,0.0,73,554,7.62,0.00,28.05,1.252,11270,0.031,0.000,2900,2143,1915,1915,4094,0,0,0,0,0,0,25.66,25.86,23.65,10.26,49.05
$GC,589,1.80,487.5,2900,2142,1915,4094,55.7,11.1,85,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2143,1914,1914,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.12,47.28
$GC,631,1.80,487.5,2900,2142,1914,4094,50.4,13.0,91,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2143,1914,1914,4093,0,0,0,0,0,0,25.82,25.84,25.84,10.12,48.11
$GC,672,1.80,487.5,2900,2142,1912,4093,44.9,12.8,97,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2143,1912,1912,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.11,47.28
$GC,714,1.80,487.5,2900,2142,1911,4094,39.4,12.8,103,720,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1710,1911,1911,4094,0,0,0,0,0,0,26.07,25.65,26.08,10.10,47.87
$GC,840,1.82,499.1,2900,1710,1907,4094,23.5,10.6,123,848,0.00,1.02,2.20,0.108,9222,0.000,0.030,2901,2130,1901,1901,4094,0,0,0,0,0,0,25.98,25.95,23.88,10.14,49.09
$GC,884,1.82,500.6,2900,2130,1900,4094,18.9,10.8,129,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1900,1900,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.17,51.77
$GC,925,1.90,548.4,2900,2130,1899,4094,14.5,10.1,135,933,0.22,0.00,4.38,0.470,10246,0.043,0.000,2933,2130,1844,1844,4094,0,0,0,0,0,0,26.13,25.32,24.29,10.18,52.20
$GC,968,1.90,548.4,2933,2129,1843,4094,10.1,10.9,141,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2130,1843,1843,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.18,53.22
$GC,1010,1.90,548.4,2933,2130,1842,4094,5.3,11.4,147,1017,0.00,1.12,0.00,0.000,516,0.000,0.050,2934,1708,1842,1842,4094,0,0,0,0,0,0,26.40,25.91,26.41,10.19,53.97
$STATE,1034,end climb,SURFACE_DEPTH_REACHED
$STATE,1034,begin surface coast
$FINISH,0.0,1.018729
$STATE,1049,end surface coast,CONTROL_FINISHED_OK
$STATE,1049,begin surface
$SM_CCo,1158,0.00,0.000,0,0,1840,553.80
$SM_GC,0.89,28.20,0.57,0.00,0.019,0.031,0.000,238,1974,1840,-6.55,-1.50,553.80,0,0,0,0,0,0,26.18,26.18,26.21
$IRIDIUM_FIX,5955.74,-17228.01,070917,142103
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.97
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.65,71.716
$10V_AH,10.31,64.865
$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,46.575,9.375,63.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,411.601,308.726,149.365,222.425,136.985,0.000,311.222,0.000,231.563,0.000,0.541,0.000
$DEVICE_MAMPS,53.550,1231.650,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330672
$DATA_FILE_SIZE,10897,153
$CAP_FILE_SIZE,27159,0
$CFSIZE,1024409600,899039232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070917,163636,5951.255,-17147.439,2,0.8,14,8.0,0.0,49.6,11,4.6