version: 66.13
glider: 401
mission: 22
dive: 2620
start: 9 10 117 13 8 36
data:
$ID,401
$MISSION,22
$DIVE,2620
$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,26
$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
$GPS1,100917,125134,5938.6826,-17103.7852,8,0.7,15,8.3,0.0,239.5,11,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-42.9
$GPS2,100917,130757,5938.5991,-17104.0449,5,0.7,18,8.3,0.0,253.1,11,4.8
$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,115.2,9735,-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,-487.5,239,1946,1893,4092,0.0,0.0,0,23,8.50,0.00,0.00,0.000,2049,0.102,0.000,941,1944,1894,1894,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.26,51.65
$GC,30,-1.80,-487.5,940,1943,1894,4094,0.8,0.0,1,57,8.75,1.25,-10.95,0.000,19204,0.047,1.206,1750,2379,3054,3054,4094,0,0,0,0,0,0,25.89,23.63,25.93,10.27,51.37
$GC,287,-1.80,-487.5,1750,2380,3061,4094,33.8,-13.8,37,296,0.00,1.08,0.00,0.000,1030,0.000,0.029,1750,1947,3061,3061,4095,0,0,0,0,0,0,26.13,26.08,26.14,10.45,50.03
$GC,338,-1.80,-487.5,1750,1946,3062,4095,41.3,-14.6,43,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,1947,3062,3062,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.42,49.13
$GC,389,-1.80,-487.5,1749,1946,3063,4094,48.8,-15.0,49,398,0.00,1.08,0.00,0.000,516,0.000,0.050,1750,1520,3064,3064,4095,0,0,0,0,0,0,26.54,26.03,26.55,10.41,47.48
$STATE,426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,426,begin apogee
$GC,441,-0.45,0.0,1750,2139,3065,4095,55.9,-16.0,54,478,4.70,0.00,28.80,1.285,10244,0.055,0.000,2184,2138,2484,2484,4094,0,0,0,0,0,0,26.06,25.11,23.84,10.40,47.08
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,485,1.80,487.5,2184,2139,2484,4094,60.8,0.0,58,529,7.65,0.00,28.42,1.261,11270,0.032,0.000,2901,2139,1917,1917,4094,0,0,0,0,0,0,25.63,25.82,23.48,10.28,47.08
$GC,571,1.80,487.5,2900,2139,1915,4094,54.8,12.3,68,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2139,1915,1915,4094,0,0,0,0,0,0,25.68,25.69,25.69,10.15,46.02
$GC,621,1.80,487.5,2900,2139,1914,4094,48.4,12.6,74,630,0.00,1.15,0.00,0.000,516,0.000,0.047,2901,1714,1914,1914,4094,0,0,0,0,0,0,25.89,25.46,25.91,10.14,45.82
$GC,762,1.80,487.5,2901,1714,1910,4094,29.8,12.2,94,771,0.00,1.02,0.00,0.000,1030,0.000,0.029,2901,2131,1909,1909,4094,0,0,0,0,0,0,25.91,25.90,25.94,10.12,46.77
$GC,811,1.80,487.5,2900,2131,1908,4094,24.0,11.8,100,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1908,1908,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.14,47.16
$GC,860,1.80,487.5,2901,2131,1907,4094,18.3,10.8,106,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2132,1907,1907,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.18,49.48
$GC,909,1.81,489.9,2900,2131,1905,4094,13.0,10.7,112,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2132,1905,1905,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.20,50.70
$GC,958,1.81,489.9,2900,2131,1904,4094,7.5,11.3,118,967,0.00,1.10,0.00,0.000,516,0.000,0.046,2901,1714,1904,1904,4094,0,0,0,0,0,0,26.45,25.96,26.46,10.21,52.12
$STATE,1001,end climb,FINISH_DEPTH_REACHED
$STATE,1001,begin subsurface finish
$FINISH1,2.0,1.024341,88
$GC,1018,0.13,87.7,2901,2146,1902,4094,2.0,11.2,124,1036,5.28,0.00,-4.35,0.000,20998,0.022,0.000,2383,2147,2381,2381,4094,0,0,0,0,0,0,26.18,25.53,26.24,10.21,52.04
$FINISH2,0.2
$STATE,1037,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1037,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,125935
$TT8_MAMPS,0.025466,0.238182
$HUMID,52.20
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.48,76.626
$10V_AH,9.95,68.783
$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,34.875,9.350,57.225,0.000,0.000,76.387,69.241,385.308,0.000,0.000,19.654,362.341,89.358,105.568,1028.098,434.899,0.000,312.628,0.000,310.753,0.000,0.541,0.000
$DEVICE_MAMPS,101.745,1205.640,1285.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.147,342.296,270.928,401.954,524.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329312
$DATA_FILE_SIZE,10972,126
$CAP_FILE_SIZE,28423,0
$CFSIZE,1024409600,890732544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100917,130757,5938.599,-17104.045,5,0.7,18,8.3,0.0,253.1,11,4.8