version: 66.13
glider: 401
mission: 22
dive: 2591
start: 9 10 117 1 11 56
data:
$ID,401
$MISSION,22
$DIVE,2591
$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,33
$R_STBD_OVSHOOT,25
$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
$GPS1,100917,005140,5940.7832,-17112.3359,7,0.8,15,8.3,0.0,252.0,10,4.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-7.0
$GPS2,100917,005140,5940.7832,-17112.3359,7,0.8,15,8.3,0.0,252.0,10,4.6
$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,112.3,18471,-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,-487.5,2382,1931,2387,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.022,0.000,1830,1929,2387,2387,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.34,52.40
$GC,26,-1.80,-487.5,1829,1930,2387,4094,0.0,0.0,1,40,0.45,1.27,-6.30,0.000,20740,0.035,1.215,1777,2379,3055,3055,4094,0,0,0,0,0,0,26.17,23.93,26.20,10.34,52.20
$GC,277,-1.80,-487.5,1776,2382,3062,4094,31.2,-12.0,41,284,0.00,1.05,0.00,0.000,1030,0.000,0.031,1777,1956,3062,3062,4094,0,0,0,0,0,0,26.20,26.16,26.24,10.43,52.36
$GC,320,-1.80,-487.5,1776,1956,3062,4094,36.5,-12.3,47,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1956,3062,3062,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.41,50.98
$GC,362,-1.80,-487.5,1776,1956,3064,4095,41.8,-12.5,53,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1956,3064,3064,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.40,50.43
$GC,403,-1.80,-487.5,1776,1956,3065,4094,47.4,-14.1,59,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1956,3065,3065,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.39,49.37
$GC,445,-1.80,-487.5,1776,1956,3066,4095,52.7,-12.7,65,451,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1956,3066,3066,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.38,49.17
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,477,-0.45,0.0,1776,2147,3066,4094,55.8,-13.0,68,513,4.38,0.00,28.45,1.257,10244,0.054,0.000,2184,2147,2484,2484,4094,0,0,0,0,0,0,26.15,25.22,23.96,10.38,49.56
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,520,1.80,487.5,2184,2146,2484,4094,59.5,0.0,74,562,7.57,0.00,28.23,1.235,11270,0.031,0.000,2901,2147,1916,1916,4094,0,0,0,0,0,0,25.70,25.89,23.58,10.26,48.46
$GC,598,1.80,487.5,2900,2146,1915,4094,53.4,12.1,86,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2146,1915,1915,4094,0,0,0,0,0,0,25.67,25.68,25.68,10.13,46.96
$GC,639,1.80,487.5,2900,2146,1914,4094,47.9,13.6,92,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,1913,1913,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.13,47.16
$GC,681,1.80,487.5,2900,2146,1912,4094,42.3,13.2,98,688,0.00,1.15,0.00,0.000,516,0.000,0.046,2900,1718,1912,1912,4095,0,0,0,0,0,0,26.00,25.58,26.01,10.12,47.20
$GC,838,1.80,487.5,2900,1717,1907,4095,22.3,12.0,123,844,0.00,0.98,0.00,0.000,1030,0.000,0.028,2901,2120,1908,1908,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.13,49.48
$GC,881,1.91,555.5,2900,2120,1906,4094,18.0,9.8,129,888,0.25,0.00,5.15,0.552,10246,0.041,0.000,2936,2120,1836,1836,4094,0,0,0,0,0,0,26.11,25.25,24.17,10.16,50.78
$GC,924,1.91,555.5,2935,2120,1834,4094,13.2,11.5,135,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2120,1834,1834,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.16,51.53
$GC,966,1.91,555.5,2935,2120,1833,4094,8.4,11.5,141,972,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2120,1833,1833,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.18,53.07
$GC,1007,1.91,555.5,2935,2120,1831,4094,3.5,12.2,147,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2120,1831,1831,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.19,53.15
$STATE,1018,end climb,FINISH_DEPTH_REACHED
$STATE,1018,begin subsurface finish
$FINISH1,1.6,1.024342,88
$GC,1033,0.13,87.6,2935,2120,1831,4095,1.6,11.4,149,1052,5.70,1.15,-5.00,0.000,20996,0.030,1.221,2384,1717,2387,2387,4094,0,0,0,0,0,0,26.13,23.86,26.18,10.18,53.03
$FINISH2,0.2
$STATE,1053,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,004305
$TT8_MAMPS,0.025466,0.102613
$HUMID,54.09
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.58,75.770
$10V_AH,10.30,68.101
$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,23.950,6.550,61.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,395.118,243.884,129.947,220.309,127.738,0.000,290.807,0.000,229.976,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,1220.940,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10765,152
$CAP_FILE_SIZE,23755,0
$CFSIZE,1024409600,892157952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,005140,5940.783,-17112.336,7,0.8,15,8.3,0.0,252.0,10,4.6