version: 66.13
glider: 401
mission: 22
dive: 2605
start: 9 10 117 7 2 44
data:
$ID,401
$MISSION,22
$DIVE,2605
$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,17
$R_STBD_OVSHOOT,56
$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
$GPS1,100917,063502,5940.4526,-17110.0508,15,0.9,75,8.3,0.5,119.4,9,9.6
$_CALLS,8
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-42.5
$GPS2,100917,070158,5940.5576,-17109.7773,4,0.7,15,8.3,0.0,93.6,11,4.8
$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,115.4,16217,-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,-487.5,239,1961,1889,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,2049,0.090,0.000,715,1956,1889,1889,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.28,50.31
$GC,27,-1.80,-487.5,715,1957,1889,4094,0.8,0.0,1,58,11.23,1.12,-10.93,0.000,19204,0.045,1.203,1753,2346,3058,3058,4095,0,0,0,0,0,0,25.89,23.61,25.98,10.28,50.98
$GC,69,-1.80,-487.5,1753,2346,3057,4095,0.7,-2.0,7,76,0.00,1.02,0.00,0.000,1030,0.000,0.031,1754,1944,3058,3058,4095,0,0,0,0,0,0,25.89,25.86,25.92,10.54,50.59
$GC,112,-1.80,-487.5,1753,1944,3060,4095,6.7,-15.0,13,118,0.00,1.08,0.00,0.000,516,0.000,0.050,1753,1521,3060,3060,4095,0,0,0,0,0,0,26.29,25.80,26.30,10.54,50.86
$GC,129,-1.80,-487.5,1753,1521,3060,4095,10.0,-17.8,15,136,0.00,0.98,0.00,0.000,1030,0.000,0.025,1754,1937,3060,3060,4095,0,0,0,0,0,0,26.03,26.01,26.05,10.54,50.03
$GC,172,-1.80,-487.5,1753,1937,3061,4095,17.6,-18.5,21,178,0.00,1.08,0.00,0.000,516,0.000,0.047,1754,1520,3062,3062,4095,0,0,0,0,0,0,26.36,25.88,26.37,10.54,50.11
$GC,416,-1.80,-487.5,1752,1520,3068,4095,53.3,-14.7,60,423,0.00,1.00,0.00,0.000,1030,0.000,0.026,1754,1950,3068,3068,4095,0,0,0,0,0,0,26.26,26.24,26.29,10.41,47.55
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,442,-0.45,0.0,1753,2139,3069,4094,55.8,-14.3,62,478,4.68,0.00,28.75,1.262,10244,0.054,0.000,2185,2139,2484,2484,4094,0,0,0,0,0,0,26.06,25.13,23.86,10.41,47.40
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,486,1.80,487.5,2185,2139,2484,4094,59.9,0.0,68,527,7.60,0.00,28.35,1.237,11270,0.029,0.000,2902,2139,1915,1915,4094,0,0,0,0,0,0,25.63,25.83,23.51,10.29,46.10
$GC,563,1.80,487.5,2901,2138,1914,4094,53.9,11.7,80,570,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1712,1914,1914,4094,0,0,0,0,0,0,25.65,25.26,25.66,10.16,45.23
$GC,672,1.80,487.5,2901,1712,1911,4094,39.8,13.1,97,679,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2129,1911,1911,4094,0,0,0,0,0,0,25.77,25.74,25.79,10.13,46.10
$GC,714,1.80,487.5,2901,2128,1910,4094,34.2,13.0,103,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1910,1910,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.14,46.41
$GC,756,1.80,487.5,2902,2128,1908,4094,28.8,13.3,109,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1908,1908,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.13,46.49
$GC,798,1.80,487.5,2902,2128,1907,4094,23.6,12.0,115,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1907,1907,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.13,46.85
$GC,840,1.84,512.4,2902,2128,1906,4094,19.0,10.4,121,847,0.00,1.10,2.83,0.278,8708,0.000,0.044,2902,1708,1885,1885,4094,0,0,0,0,0,0,26.34,25.20,23.91,10.18,48.50
$GC,950,1.84,512.4,2902,1708,1884,4094,7.4,10.8,138,956,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2130,1883,1883,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.21,52.08
$GC,992,1.84,512.4,2902,2130,1882,4094,2.7,11.1,144,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2131,1882,1882,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.21,52.20
$STATE,1003,end climb,FINISH_DEPTH_REACHED
$STATE,1003,begin subsurface finish
$FINISH1,1.0,1.024333,88
$GC,1018,0.13,88.3,2902,2131,1882,4094,1.0,10.2,146,1031,5.28,0.00,-4.53,0.000,20486,0.021,0.000,2384,2131,2388,2388,4095,0,0,0,0,0,0,26.17,24.41,26.23,10.22,52.48
$FINISH2,0.1
$STATE,1032,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1032,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,065348
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.83
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,23.51,76.195
$10V_AH,10.12,68.429
$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,34.400,11.100,59.925,0.000,0.000,218.213,191.514,519.088,0.000,0.000,16.227,395.657,542.062,138.467,1070.946,507.455,0.000,305.067,0.000,226.161,0.000,0.544,0.000
$DEVICE_MAMPS,90.270,1203.345,1262.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,10837,148
$CAP_FILE_SIZE,36798,0
$CFSIZE,1024409600,891453440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,070158,5940.558,-17109.777,4,0.7,15,8.3,0.0,93.6,11,4.8