version: 66.13
glider: 401
mission: 22
dive: 2585
start: 9 9 117 22 45 39
data:
$ID,401
$MISSION,22
$DIVE,2585
$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,30
$R_STBD_OVSHOOT,23
$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
$GPS1,090917,222459,5941.9976,-17113.2969,7,0.8,19,8.3,0.5,80.9,11,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-2.1
$GPS2,090917,222459,5941.9976,-17113.2969,7,0.8,19,8.3,0.5,80.9,11,5.0
$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,116.5,20445,-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,-487.5,2381,1940,2380,4092,0.0,0.0,0,20,5.68,0.00,0.00,0.000,4097,0.018,0.000,1820,1942,2380,2380,4095,0,0,0,0,0,0,26.46,28.83,28.83,10.33,52.71
$GC,27,-1.80,-487.5,1820,1946,2379,4095,0.0,0.0,1,40,0.35,1.23,-6.32,0.000,21252,0.043,1.209,1779,2384,3054,3054,4095,0,0,0,0,0,0,26.15,23.92,26.17,10.34,53.15
$GC,76,-1.80,-487.5,1779,2385,3055,4095,4.6,-14.2,8,83,0.00,1.10,0.00,0.000,1030,0.000,0.033,1780,1954,3055,3055,4095,0,0,0,0,0,0,26.06,26.02,26.09,10.47,52.71
$GC,118,-1.80,-487.5,1779,1954,3056,4095,11.4,-16.2,14,125,0.00,1.15,0.00,0.000,260,0.000,0.045,1779,2380,3056,3056,4095,0,0,0,0,0,0,26.44,25.96,26.45,10.48,52.48
$GC,338,-1.80,-487.5,1779,2380,3062,4095,41.8,-13.0,49,345,0.00,1.10,0.00,0.000,1030,0.000,0.031,1779,1940,3062,3062,4094,0,0,0,0,0,0,26.22,26.18,26.26,10.39,50.31
$GC,381,-1.80,-487.5,1779,1940,3063,4094,47.4,-13.7,55,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,1940,3063,3063,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.39,49.76
$GC,423,-1.80,-487.5,1779,1940,3064,4095,53.1,-13.7,61,429,0.00,1.05,0.00,0.000,516,0.000,0.051,1779,1522,3064,3064,4095,0,0,0,0,0,0,26.61,26.12,26.63,10.38,49.29
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,449,-0.45,0.0,1779,2145,3065,4095,55.5,-13.5,63,485,4.38,0.00,28.42,1.255,10244,0.053,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.13,25.21,23.98,10.38,49.05
$STATE,487,end apogee,CONTROL_FINISHED_OK
$STATE,487,begin climb
$GC,493,1.80,487.5,2184,2145,2484,4094,59.4,0.0,69,535,7.57,0.00,28.17,1.234,11270,0.030,0.000,2900,2146,1915,1915,4095,0,0,0,0,0,0,25.67,25.88,23.58,10.25,48.85
$GC,571,1.80,487.5,2899,2145,1914,4095,53.5,11.9,81,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1914,1914,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.13,47.20
$GC,612,1.80,487.5,2899,2145,1914,4094,48.1,12.7,87,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2146,1913,1913,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.11,47.63
$GC,654,1.80,487.5,2899,2145,1912,4094,42.8,13.0,93,661,0.00,1.15,0.00,0.000,516,0.000,0.047,2900,1716,1912,1912,4094,0,0,0,0,0,0,25.99,25.56,26.01,10.12,47.40
$GC,787,1.80,487.5,2899,1716,1908,4094,25.7,12.8,114,793,0.00,1.02,0.00,0.000,1030,0.000,0.030,2899,2134,1908,1908,4094,0,0,0,0,0,0,25.96,25.91,25.98,10.10,48.81
$GC,829,1.80,487.5,2899,2133,1907,4094,20.5,11.5,120,836,0.00,1.15,0.00,0.000,260,0.000,0.054,2899,2561,1907,1907,4094,0,0,0,0,0,0,26.32,25.82,26.33,10.15,49.29
$GC,878,1.90,549.0,2899,2561,1906,4094,15.5,9.9,127,891,0.22,1.05,4.72,0.507,11270,0.032,0.028,2931,2135,1843,1843,4094,0,0,0,0,0,0,26.06,26.04,24.18,10.17,51.89
$GC,927,2.00,620.2,2930,2135,1841,4094,10.6,9.7,134,940,0.25,0.00,5.47,0.516,10246,0.041,0.000,2968,2135,1759,1759,4094,0,0,0,0,0,0,26.13,24.95,24.34,10.17,52.20
$GC,976,2.05,651.4,2968,2135,1757,4094,5.5,10.3,141,983,0.00,0.00,3.40,0.321,8198,0.000,0.000,2968,2135,1723,1723,4094,0,0,0,0,0,0,26.36,25.29,24.33,10.16,53.26
$STATE,1007,end climb,FINISH_DEPTH_REACHED
$STATE,1007,begin subsurface finish
$FINISH1,1.5,1.024340,88
$GC,1021,0.13,87.8,2968,2135,1721,4094,1.5,11.2,146,1041,6.05,1.15,-5.93,0.000,20996,0.028,1.227,2385,1716,2386,2386,4094,0,0,0,0,0,0,26.09,23.86,26.10,10.16,53.54
$FINISH2,0.1
$STATE,1042,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1042,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,090917,210830
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.21
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.58,75.593
$10V_AH,10.30,67.963
$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,24.500,13.200,70.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,390.315,232.030,138.746,216.428,127.683,0.000,299.698,0.000,225.683,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1227.060,1255.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,10816,149
$CAP_FILE_SIZE,25548,0
$CFSIZE,1024409600,892452864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090917,222459,5941.998,-17113.297,7,0.8,19,8.3,0.5,80.9,11,5.0