version: 66.13
glider: 401
mission: 22
dive: 2639
start: 9 10 117 20 33 35
data:
$ID,401
$MISSION,22
$DIVE,2639
$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,26
$R_STBD_OVSHOOT,30
$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
$GPS1,100917,201327,5938.0864,-17101.6895,5,0.8,18,8.4,0.0,50.2,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-1.9
$GPS2,100917,201327,5938.0864,-17101.6895,5,0.8,18,8.4,0.0,50.2,10,4.8
$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,143.7,68512,-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,-487.5,2384,1943,2385,4092,0.0,0.0,0,20,5.60,0.00,0.00,0.000,4097,0.022,0.000,1833,1943,2384,2384,4095,0,0,0,0,0,0,26.48,28.83,28.83,10.33,52.79
$GC,27,-1.80,-487.5,1833,1944,2384,4095,0.1,0.0,1,40,0.47,1.23,-6.32,0.000,20740,0.033,1.217,1776,2373,3054,3054,4094,0,0,0,0,0,0,26.20,23.89,26.21,10.33,52.63
$GC,142,-1.80,-487.5,1775,2373,3057,4094,12.0,-16.9,19,149,0.00,1.08,0.00,0.000,1030,0.000,0.031,1776,1944,3057,3057,4095,0,0,0,0,0,0,26.13,26.08,26.15,10.48,53.22
$GC,185,-1.80,-487.5,1776,1943,3058,4095,19.3,-17.1,25,191,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1944,3058,3058,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.48,52.52
$GC,226,-1.80,-487.5,1776,1944,3060,4095,26.2,-15.6,31,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3060,3060,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.45,52.91
$GC,268,-1.80,-487.5,1776,1943,3061,4095,32.0,-13.5,37,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1944,3061,3061,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.42,51.77
$GC,310,-1.80,-487.5,1775,1943,3062,4095,37.5,-13.5,43,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1944,3062,3062,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.40,50.94
$GC,352,-1.80,-487.5,1775,1944,3063,4094,43.0,-13.5,49,358,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3063,3063,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.39,50.03
$GC,393,-1.80,-487.5,1776,1943,3064,4095,48.7,-13.5,55,399,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3064,3064,4095,0,0,0,0,0,0,26.61,26.63,26.62,10.38,49.33
$GC,435,-1.80,-487.5,1775,1943,3065,4095,54.6,-13.9,61,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1944,3065,3065,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.38,49.05
$STATE,446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,460,-0.45,0.0,1776,2142,3066,4095,57.1,-14.6,63,497,4.43,0.00,28.55,1.274,10244,0.054,0.000,2186,2143,2484,2484,4095,0,0,0,0,0,0,26.13,25.19,23.92,10.37,49.09
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,504,1.80,487.5,2186,2142,2484,4095,60.9,0.0,69,546,7.57,0.00,28.23,1.252,11270,0.030,0.000,2899,2143,1915,1915,4094,0,0,0,0,0,0,25.68,25.88,23.53,10.25,48.11
$GC,582,1.80,487.5,2899,2143,1915,4094,55.2,12.3,81,588,0.00,1.15,0.00,0.000,516,0.000,0.045,2900,1715,1914,1914,4094,0,0,0,0,0,0,25.66,25.27,25.67,10.12,47.59
$GC,691,1.80,487.5,2899,1714,1911,4094,41.1,13.0,98,698,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2130,1912,1912,4094,0,0,0,0,0,0,25.77,25.74,25.80,10.10,47.75
$GC,733,1.80,487.5,2899,2130,1911,4094,35.6,12.9,104,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1910,1910,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.10,48.18
$GC,775,1.80,487.5,2899,2129,1909,4094,30.2,12.8,110,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1909,1909,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.10,48.34
$GC,817,1.80,487.5,2899,2130,1908,4094,25.0,12.5,116,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2130,1908,1908,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.09,48.30
$GC,859,1.91,557.4,2899,2130,1907,4094,20.6,9.7,122,872,0.28,0.00,5.28,0.576,10246,0.039,0.000,2937,2130,1833,1833,4094,0,0,0,0,0,0,26.11,25.21,24.11,10.14,49.25
$GC,908,1.91,557.4,2936,2130,1831,4094,15.2,11.4,129,914,0.00,1.10,0.00,0.000,516,0.000,0.047,2937,1715,1831,1831,4095,0,0,0,0,0,0,26.34,25.87,26.34,10.15,51.22
$STATE,1010,end climb,FINISH_DEPTH_REACHED
$STATE,1010,begin subsurface finish
$FINISH1,1.9,1.024328,89
$GC,1026,0.13,88.6,2937,2141,1828,4094,1.9,12.4,146,1040,5.70,0.00,-5.05,0.000,20486,0.022,0.000,2382,2142,2387,2387,4094,0,0,0,0,0,0,26.15,24.40,26.20,10.18,53.50
$FINISH2,0.1
$STATE,1041,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1041,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,185656
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.74
$INTERNAL_PRESSURE,10.2286
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.53,77.151
$10V_AH,10.30,69.195
$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,24.050,7.625,62.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,387.251,228.723,137.706,215.022,135.438,0.000,301.144,0.000,224.411,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1217.115,1273.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333756
$DATA_FILE_SIZE,10885,148
$CAP_FILE_SIZE,25434,0
$CFSIZE,1024409600,889798656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,201327,5938.086,-17101.689,5,0.8,18,8.4,0.0,50.2,10,4.8