version: 66.13
glider: 401
mission: 22
dive: 2495
start: 9 8 117 9 53 39
data:
$ID,401
$MISSION,22
$DIVE,2495
$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,24
$R_STBD_OVSHOOT,48
$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
$GPS1,080917,093326,5949.3535,-17133.8750,6,0.7,14,8.1,0.0,0.0,11,4.8
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-2.7
$GPS2,080917,093326,5949.3535,-17133.8750,6,0.7,14,8.1,0.0,0.0,11,4.8
$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,120.2,8168,-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,-487.5,2383,1962,2380,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.021,0.000,1829,1963,2381,2381,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.34,53.11
$GC,26,-1.80,-487.5,1828,1958,2381,4094,0.1,0.0,1,40,0.45,1.12,-6.40,0.000,20740,0.031,1.219,1772,2363,3055,3055,4094,0,0,0,0,0,0,26.20,23.98,26.21,10.35,53.15
$GC,82,-1.80,-487.5,1772,2364,3055,4094,0.2,-0.5,9,88,0.00,1.05,0.00,0.000,1030,0.000,0.028,1772,1942,3056,3056,4095,0,0,0,0,0,0,26.11,26.08,26.13,10.50,52.75
$GC,124,-1.80,-487.5,1772,1941,3057,4095,4.8,-12.9,15,131,0.00,1.05,0.00,0.000,516,0.000,0.050,1772,1524,3057,3057,4095,0,0,0,0,0,0,26.44,25.97,26.45,10.49,52.91
$GC,338,-1.80,-487.5,1771,1524,3063,4095,38.8,-13.9,49,344,0.00,0.95,0.00,0.000,1030,0.000,0.027,1772,1936,3063,3063,4094,0,0,0,0,0,0,26.29,26.26,26.30,10.42,50.78
$GC,380,-1.80,-487.5,1772,1936,3064,4094,44.6,-14.2,55,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1936,3064,3064,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.40,50.11
$GC,421,-1.80,-487.5,1771,1936,3065,4095,50.4,-14.0,61,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1936,3066,3066,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.39,49.88
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,465,-0.45,0.0,1772,2136,3066,4095,55.5,-14.7,66,501,4.45,0.00,28.48,1.257,10244,0.053,0.000,2186,2136,2484,2484,4095,0,0,0,0,0,0,26.14,25.24,24.02,10.38,49.48
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,508,1.80,487.5,2186,2136,2484,4095,59.5,0.0,72,549,7.57,0.00,28.12,1.233,11270,0.030,0.000,2898,2136,1916,1916,4094,0,0,0,0,0,0,25.68,25.87,23.66,10.27,48.14
$GC,585,1.80,487.5,2897,2136,1915,4094,53.9,11.5,84,592,0.00,1.12,0.00,0.000,516,0.000,0.044,2898,1716,1915,1915,4094,0,0,0,0,0,0,25.65,25.27,25.66,10.14,47.20
$GC,736,1.80,487.5,2897,1715,1911,4094,34.9,12.7,108,743,0.00,1.00,0.00,0.000,1030,0.000,0.029,2898,2125,1911,1911,4094,0,0,0,0,0,0,25.85,25.82,25.88,10.11,47.95
$GC,778,1.80,487.5,2898,2124,1910,4094,29.5,12.4,114,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2125,1909,1909,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.11,48.34
$GC,820,1.84,510.2,2898,2125,1908,4094,24.9,10.4,120,827,0.00,0.00,2.83,0.302,8198,0.000,0.000,2898,2125,1888,1888,4094,0,0,0,0,0,0,26.27,25.13,23.96,10.14,48.26
$GC,863,1.92,567.6,2898,2124,1888,4094,20.7,9.9,126,870,0.35,0.00,4.93,0.553,10246,0.034,0.000,2941,2125,1821,1821,4095,0,0,0,0,0,0,26.07,25.30,24.24,10.17,50.23
$GC,906,1.92,567.6,2940,2124,1820,4095,15.8,11.8,132,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2125,1819,1819,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.18,51.57
$GC,947,1.92,567.6,2940,2125,1818,4094,10.4,12.8,138,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2125,1818,1818,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.18,52.71
$GC,989,1.92,567.6,2940,2124,1817,4094,5.0,13.4,144,995,0.00,1.08,0.00,0.000,516,0.000,0.045,2941,1715,1816,1816,4094,0,0,0,0,0,0,26.39,25.93,26.40,10.19,52.91
$STATE,1007,end climb,FINISH_DEPTH_REACHED
$STATE,1007,begin subsurface finish
$FINISH1,1.8,1.024274,92
$GC,1023,0.14,92.4,2941,2138,1816,4094,1.8,13.4,147,1042,5.72,1.20,-5.15,0.000,20996,0.023,1.219,2386,1710,2383,2383,4094,0,0,0,0,0,0,26.13,23.93,26.18,10.20,53.97
$FINISH2,0.1
$STATE,1043,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1043,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,092604
$TT8_MAMPS,0.025466,0.113848
$HUMID,54.17
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.66,72.966
$10V_AH,10.30,65.868
$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,24.175,10.675,64.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,393.701,241.276,130.431,217.347,123.473,0.000,290.426,0.000,227.190,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1219.410,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10794,150
$CAP_FILE_SIZE,25054,0
$CFSIZE,1024409600,896876544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080917,093326,5949.354,-17133.875,6,0.7,14,8.1,0.0,0.0,11,4.8