version: 66.13
glider: 401
mission: 22
dive: 2636
start: 9 10 117 19 22 51
data:
$ID,401
$MISSION,22
$DIVE,2636
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,100917,190312,5938.1558,-17103.2637,8,0.8,15,8.3,0.9,52.7,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-1.9
$GPS2,100917,190312,5938.1558,-17103.2637,8,0.8,15,8.3,0.9,52.7,10,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W1S
$TGT_LATLONG,5905.380,-17028.039
$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,142.8,69337,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,13,-1.80,-487.5,2382,1951,2386,4092,0.0,0.0,0,24,6.35,0.00,-2.10,0.000,20482,0.022,0.000,1757,1952,2611,2611,4094,0,0,0,0,0,0,26.27,28.83,26.31,10.33,53.18
$GC,31,-1.80,-487.5,1757,1951,2612,4094,0.1,0.0,1,40,0.00,1.25,-3.78,0.000,16644,0.000,1.220,1757,2376,3060,3060,4094,0,0,0,0,0,0,26.53,23.89,26.53,10.38,53.78
$GC,119,-1.80,-487.5,1756,2376,3062,4094,12.0,-17.8,13,129,0.00,1.08,0.00,0.000,1030,0.000,0.031,1757,1945,3062,3062,4095,0,0,0,0,0,0,26.15,26.11,26.21,10.47,53.85
$GC,169,-1.80,-487.5,1756,1945,3064,4095,21.0,-17.9,19,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1945,3064,3064,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.48,52.91
$GC,219,-1.80,-487.5,1756,1945,3065,4094,28.9,-14.6,25,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1945,3066,3066,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.43,52.52
$GC,268,-1.80,-487.5,1756,1945,3067,4095,35.9,-14.5,31,277,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1945,3067,3067,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.40,51.57
$GC,317,-1.80,-487.5,1756,1945,3068,4095,42.9,-13.9,37,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1946,3068,3068,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.38,50.23
$GC,365,-1.80,-487.5,1756,1945,3069,4095,49.7,-13.8,43,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1945,3069,3069,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.38,50.31
$STATE,401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,401,begin apogee
$GC,416,-0.45,0.0,1756,2142,3070,4094,55.8,-14.3,48,452,4.65,0.00,28.98,1.271,10244,0.055,0.000,2186,2142,2484,2484,4094,0,0,0,0,0,0,26.15,25.18,23.91,10.38,49.09
$STATE,453,end apogee,CONTROL_FINISHED_OK
$STATE,453,begin climb
$GC,459,1.80,487.5,2186,2141,2484,4094,60.2,0.0,52,503,7.57,0.00,28.35,1.244,11270,0.029,0.000,2900,2141,1916,1916,4094,0,0,0,0,0,0,25.68,25.89,23.53,10.25,48.77
$GC,545,1.80,487.5,2900,2141,1914,4094,54.0,11.9,62,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1915,1915,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,46.88
$GC,595,1.80,487.5,2900,2141,1914,4094,47.5,12.7,68,604,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1713,1913,1913,4094,0,0,0,0,0,0,25.92,25.49,25.93,10.11,47.32
$GC,723,1.80,487.5,2900,1713,1910,4094,30.7,12.7,86,733,0.00,1.02,0.00,0.000,1030,0.000,0.031,2900,2130,1910,1910,4094,0,0,0,0,0,0,25.91,25.88,25.94,10.10,47.99
$GC,774,1.80,487.5,2900,2130,1908,4094,24.3,12.7,92,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2130,1908,1908,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.11,48.34
$GC,823,1.90,549.5,2900,2130,1907,4094,19.2,9.8,98,833,0.22,0.00,4.78,0.535,10246,0.044,0.000,2933,2131,1843,1843,4094,0,0,0,0,0,0,26.13,25.20,24.10,10.15,49.33
$GC,875,1.90,549.5,2933,2130,1842,4094,13.6,11.7,104,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2130,1841,1841,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.16,51.10
$GC,925,1.90,549.5,2933,2130,1841,4094,7.5,12.1,110,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2130,1840,1840,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.17,52.44
$STATE,969,end climb,FINISH_DEPTH_REACHED
$STATE,969,begin subsurface finish
$FINISH1,1.3,1.024331,88
$GC,984,0.13,88.4,2933,2130,1839,4094,1.3,12.5,116,1003,5.65,1.20,-5.00,0.000,20996,0.023,1.222,2381,1715,2386,2386,4094,0,0,0,0,0,0,26.16,23.83,26.21,10.18,52.63
$FINISH2,0.2
$STATE,1005,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1005,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,174518
$TT8_MAMPS,0.025466,0.273385
$HUMID,53.18
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.53,77.066
$10V_AH,9.96,69.138
$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,24.450,6.650,62.100,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,339.267,0.929,106.807,491.627,129.179,0.000,310.021,0.000,290.478,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,1221.705,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.370,320.608,253.708,376.120,488.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,333692
$DATA_FILE_SIZE,10850,118
$CAP_FILE_SIZE,22616,0
$CFSIZE,1024409600,889946112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,190312,5938.156,-17103.264,8,0.8,15,8.3,0.9,52.7,10,5.0