version: 66.13
glider: 401
mission: 22
dive: 2521
start: 9 8 117 20 27 56
data:
$ID,401
$MISSION,22
$DIVE,2521
$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,49
$R_STBD_OVSHOOT,49
$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
$GPS1,080917,200527,5947.3638,-17127.7148,9,0.8,40,8.1,0.3,194.8,11,4.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-44.4
$GPS2,080917,202712,5947.3579,-17127.5977,6,0.8,15,8.1,0.4,220.8,10,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W24S
$TGT_LATLONG,5935.700,-17055.381
$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,117.5,37121,-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,-487.5,240,1977,1880,4092,0.0,0.0,0,20,5.57,0.00,0.00,0.000,2049,0.096,0.000,708,1978,1881,1881,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.29,50.51
$GC,26,-1.80,-487.5,707,1977,1881,4094,0.9,0.0,1,57,11.23,1.25,-10.88,0.000,18948,0.042,1.229,1754,1548,3057,3057,4095,0,0,0,0,0,0,25.86,23.71,25.95,10.29,51.33
$GC,240,-1.80,-487.5,1753,1547,3063,4095,27.9,-13.1,35,247,0.00,0.90,0.00,0.000,1030,0.000,0.025,1754,1941,3062,3062,4094,0,0,0,0,0,0,26.13,26.13,26.16,10.50,49.80
$GC,283,-1.80,-487.5,1753,1941,3064,4094,33.4,-13.4,41,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1942,3063,3063,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.46,49.25
$GC,324,-1.80,-487.5,1753,1941,3064,4094,39.1,-13.7,47,330,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1942,3065,3065,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.45,48.42
$GC,366,-1.80,-487.5,1753,1942,3066,4095,45.0,-14.1,53,373,0.00,1.10,0.00,0.000,260,0.000,0.044,1754,2363,3066,3066,4094,0,0,0,0,0,0,26.51,26.02,26.52,10.43,48.07
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,446,-0.45,0.0,1754,2120,3068,4094,55.5,-14.6,64,482,4.65,0.00,28.65,1.262,10244,0.053,0.000,2185,2117,2484,2484,4094,0,0,0,0,0,0,26.06,25.15,23.91,10.41,47.28
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,490,1.80,487.5,2185,2116,2484,4094,59.8,0.0,70,531,7.60,0.00,28.27,1.240,11270,0.029,0.000,2900,2116,1915,1915,4095,0,0,0,0,0,0,25.62,25.82,23.57,10.28,46.22
$GC,567,1.80,487.5,2900,2116,1914,4095,54.0,11.9,82,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2116,1914,1914,4094,0,0,0,0,0,0,25.63,25.65,25.64,10.16,45.07
$GC,608,1.80,487.5,2900,2116,1913,4094,48.5,13.6,88,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2117,1913,1913,4095,0,0,0,0,0,0,25.83,25.84,25.84,10.15,46.06
$GC,650,1.80,487.5,2900,2116,1912,4095,43.0,12.8,94,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2116,1911,1911,4094,0,0,0,0,0,0,25.98,25.98,25.98,10.14,46.02
$GC,691,1.80,487.5,2899,2116,1911,4094,37.6,12.8,100,698,0.00,0.95,0.00,0.000,516,0.000,0.045,2900,1750,1911,1911,4094,0,0,0,0,0,0,26.08,25.67,26.09,10.13,45.58
$GC,800,1.80,487.5,2900,1749,1907,4094,23.7,12.4,117,806,0.00,0.90,0.00,0.000,1030,0.000,0.031,2901,2119,1907,1907,4094,0,0,0,0,0,0,25.97,25.93,25.99,10.15,46.69
$GC,842,1.80,487.5,2900,2118,1906,4094,18.9,11.4,123,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2119,1906,1906,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.19,48.93
$GC,883,1.80,487.5,2900,2119,1905,4094,14.3,10.9,129,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2119,1905,1905,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.20,50.51
$GC,925,1.80,487.5,2900,2119,1903,4094,9.7,11.5,135,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2119,1903,1903,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.21,51.41
$GC,966,1.80,487.5,2900,2118,1902,4094,5.0,11.2,141,973,0.00,0.98,0.00,0.000,516,0.000,0.047,2900,1748,1902,1902,4094,0,0,0,0,0,0,26.44,25.98,26.45,10.22,52.40
$STATE,990,end climb,FINISH_DEPTH_REACHED
$STATE,990,begin subsurface finish
$FINISH1,1.7,1.024333,88
$GC,1007,0.13,88.3,2900,2144,1901,4094,1.7,11.2,145,1020,5.30,0.00,-4.32,0.000,20998,0.022,0.000,2382,2144,2388,2388,4095,0,0,0,0,0,0,26.17,24.41,26.22,10.22,52.48
$FINISH2,0.1
$STATE,1021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,080917,202113
$TT8_MAMPS,0.025466,0.162533
$HUMID,52.75
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,23.57,73.733
$10V_AH,10.13,66.466
$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,34.350,7.550,56.925,0.000,0.000,121.515,117.532,531.228,0.000,0.000,22.265,388.393,408.821,138.427,910.534,485.082,0.000,304.052,0.000,224.663,0.000,0.543,0.000
$DEVICE_MAMPS,96.390,1229.355,1262.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329336
$DATA_FILE_SIZE,10859,147
$CAP_FILE_SIZE,33731,0
$CFSIZE,1024409600,895582208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,080917,202712,5947.358,-17127.598,6,0.8,15,8.1,0.4,220.8,10,4.9