version: 66.13
glider: 401
mission: 22
dive: 2596
start: 9 10 117 3 13 30
data:
$ID,401
$MISSION,22
$DIVE,2596
$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,20
$R_STBD_OVSHOOT,62
$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
$GPS1,100917,030220,5940.0024,-17112.4492,6,0.8,49,8.3,0.3,276.9,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-38.7
$GPS2,100917,031249,5940.0049,-17112.5840,11,0.8,16,8.3,0.0,328.4,11,4.9
$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,108.0,17987,-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,-487.5,237,1956,1901,4092,0.0,0.0,0,22,8.50,0.00,0.00,0.000,2049,0.088,0.000,961,1949,1902,1902,4095,0,0,0,0,0,0,26.34,28.83,28.83,10.26,52.12
$GC,29,-1.80,-487.5,960,1955,1902,4095,0.8,0.0,1,55,8.48,1.27,-10.88,0.000,19204,0.041,1.227,1754,1520,3056,3056,4095,0,0,0,0,0,0,25.94,23.60,25.98,10.26,51.92
$GC,238,-1.80,-487.5,1753,1520,3062,4095,27.0,-17.5,30,247,0.00,0.95,0.00,0.000,1030,0.000,0.026,1754,1927,3062,3062,4094,0,0,0,0,0,0,26.17,26.15,26.20,10.48,51.22
$GC,287,-1.80,-487.5,1753,1927,3062,4094,33.7,-13.5,36,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1928,3063,3063,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.44,51.18
$GC,336,-1.80,-487.5,1753,1928,3064,4095,40.3,-13.7,42,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1928,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.42,49.88
$GC,385,-1.80,-487.5,1753,1928,3066,4095,47.3,-14.4,48,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1929,3066,3066,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.41,48.11
$GC,433,-1.80,-487.5,1753,1928,3067,4095,54.3,-14.6,54,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1928,3067,3067,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.40,47.75
$STATE,449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,449,begin apogee
$GC,463,-0.45,0.0,1754,2135,3068,4094,57.5,-14.3,56,500,4.65,0.00,28.88,1.291,10244,0.054,0.000,2185,2135,2484,2484,4094,0,0,0,0,0,0,26.09,25.14,23.86,10.39,47.51
$STATE,501,end apogee,CONTROL_FINISHED_OK
$STATE,501,begin climb
$GC,507,1.80,487.5,2185,2135,2484,4094,61.9,0.0,60,553,7.55,1.12,28.17,1.263,10756,0.030,0.042,2902,1704,1921,1921,4094,0,0,0,0,0,0,25.53,25.44,23.51,10.27,46.81
$GC,657,1.80,487.5,2902,1704,1918,4094,48.0,13.0,79,666,0.00,1.08,0.00,0.000,1030,0.000,0.028,2902,2137,1918,1918,4094,0,0,0,0,0,0,25.69,25.62,25.69,10.14,46.45
$GC,706,1.80,487.5,2902,2136,1917,4094,41.0,13.0,85,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1916,1916,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.13,46.65
$GC,755,1.80,487.5,2902,2136,1915,4094,34.6,13.0,91,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1914,1914,4094,0,0,0,0,0,0,26.18,26.19,26.19,10.12,46.81
$GC,804,1.80,487.5,2902,2136,1913,4094,28.4,12.7,97,813,0.00,1.15,0.00,0.000,516,0.000,0.046,2903,1705,1913,1913,4094,0,0,0,0,0,0,26.26,25.79,26.27,10.12,46.77
$GC,894,1.83,506.1,2903,1703,1911,4094,18.9,10.5,109,904,0.00,1.05,2.78,0.268,9222,0.000,0.029,2903,2133,1892,1892,4094,0,0,0,0,0,0,26.05,26.01,23.94,10.18,49.80
$GC,946,1.90,551.2,2902,2133,1891,4094,13.3,10.1,115,956,0.15,0.00,3.90,0.416,10246,0.056,0.000,2929,2133,1846,1846,4094,0,0,0,0,0,0,26.18,24.82,24.17,10.20,51.06
$GC,998,1.90,551.2,2928,2133,1845,4094,7.3,11.6,121,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2133,1845,1845,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.20,51.85
$STATE,1042,end climb,FINISH_DEPTH_REACHED
$STATE,1043,begin subsurface finish
$FINISH1,1.4,1.024347,87
$GC,1057,0.13,87.3,2928,2136,1844,4094,1.4,11.6,127,1076,5.57,0.00,-4.90,0.000,20998,0.021,0.000,2379,2135,2382,2382,4094,0,0,0,0,0,0,26.17,25.48,26.22,10.20,52.40
$FINISH2,0.2
$STATE,1077,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,015714
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.95
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.51,75.915
$10V_AH,9.95,68.227
$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,34.900,7.225,63.725,0.000,0.000,22.823,18.465,273.995,0.000,0.000,17.239,370.793,0.000,111.455,795.541,430.876,0.000,329.111,0.000,316.938,0.000,0.543,0.000
$DEVICE_MAMPS,87.975,1227.060,1291.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.855,350.474,277.368,411.324,535.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,10862,129
$CAP_FILE_SIZE,27987,0
$CFSIZE,1024409600,891912192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,100917,031249,5940.005,-17112.584,11,0.8,16,8.3,0.0,328.4,11,4.9