version: 66.13
glider: 401
mission: 22
dive: 2621
start: 9 10 117 13 28 7
data:
$ID,401
$MISSION,22
$DIVE,2621
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,100917,130757,5938.5991,-17104.0449,5,0.7,18,8.3,0.0,253.1,11,4.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-1.6
$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,6,begin dive
$GC,13,-1.80,-487.5,2383,1951,2380,4092,0.0,0.0,0,20,5.62,0.00,0.00,0.000,4097,0.021,0.000,1829,1951,2381,2381,4094,0,0,0,0,0,0,26.48,28.83,28.83,10.33,52.28
$GC,27,-1.80,-487.5,1828,1951,2381,4094,0.1,0.0,1,40,0.45,0.00,-6.28,0.000,20486,0.034,0.000,1774,1951,3055,3055,4095,0,0,0,0,0,0,26.20,25.56,26.22,10.33,52.52
$GC,75,-1.80,-487.5,1774,1951,3056,4095,4.4,-13.3,8,81,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3056,3056,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.48,52.44
$GC,117,-1.80,-487.5,1774,1951,3057,4094,11.4,-17.6,14,123,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3057,3057,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.48,53.15
$GC,159,-1.80,-487.5,1774,1951,3058,4094,18.6,-17.3,20,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3059,3059,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.48,52.12
$GC,200,-1.80,-487.5,1774,1951,3060,4095,25.2,-14.9,26,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3060,3060,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.46,51.96
$GC,242,-1.80,-487.5,1774,1951,3061,4095,30.5,-13.1,32,248,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3061,3061,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.42,51.61
$GC,284,-1.80,-487.5,1773,1951,3062,4094,36.2,-13.6,38,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3062,3062,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.41,51.06
$GC,325,-1.80,-487.5,1773,1951,3063,4094,41.8,-13.9,44,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3062,3062,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.39,50.11
$GC,367,-1.80,-487.5,1774,1951,3064,4095,47.7,-15.0,50,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3064,3064,4094,0,0,0,0,0,0,26.60,26.62,26.61,10.39,49.17
$GC,408,-1.80,-487.5,1773,1951,3065,4094,53.5,-13.4,56,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3065,3065,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.38,49.25
$STATE,419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,419,begin apogee
$GC,434,-0.45,0.0,1774,2149,3066,4094,56.1,-14.5,58,470,4.43,0.00,28.55,1.283,10246,0.053,0.000,2186,2150,2484,2484,4095,0,0,0,0,0,0,26.14,25.19,23.92,10.38,48.89
$STATE,471,end apogee,CONTROL_FINISHED_OK
$STATE,471,begin climb
$GC,477,1.80,487.5,2186,2149,2484,4095,60.0,0.0,64,519,7.55,0.00,28.27,1.248,10246,0.030,0.000,2900,2149,1915,1915,4094,0,0,0,0,0,0,25.67,24.71,23.54,10.25,48.26
$GC,555,1.80,487.5,2899,2149,1914,4094,53.6,12.7,76,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,1914,1914,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.12,46.88
$GC,597,1.80,487.5,2899,2149,1912,4094,47.8,13.8,82,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2149,1913,1913,4094,0,0,0,0,0,0,25.86,25.86,25.86,10.12,47.04
$GC,639,1.80,487.5,2899,2149,1912,4094,42.4,13.0,88,646,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1717,1912,1912,4094,0,0,0,0,0,0,26.00,25.58,26.01,10.11,47.91
$GC,801,1.80,487.5,2900,1717,1907,4094,22.2,12.4,114,808,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2134,1907,1907,4094,0,0,0,0,0,0,26.00,25.96,26.03,10.13,48.38
$GC,844,1.88,537.8,2900,2134,1906,4094,17.8,10.0,120,852,0.17,0.00,4.18,0.475,10246,0.052,0.000,2929,2134,1856,1856,4094,0,0,0,0,0,0,26.13,25.18,24.08,10.16,50.82
$GC,888,1.88,537.8,2928,2134,1855,4094,13.0,11.2,126,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2134,1855,1855,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.16,51.77
$GC,929,1.88,537.8,2928,2134,1854,4094,8.1,11.7,132,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2135,1854,1854,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.18,52.48
$GC,971,1.88,537.8,2928,2134,1853,4094,3.1,12.3,138,978,0.00,1.10,0.00,0.000,516,0.000,0.046,2929,1717,1853,1853,4094,0,0,0,0,0,0,26.44,25.96,26.45,10.18,53.62
$STATE,983,end climb,FINISH_DEPTH_REACHED
$STATE,983,begin subsurface finish
$FINISH1,0.9,1.024340,88
$GC,999,0.13,87.8,2929,2141,1852,4094,0.9,12.2,140,1012,5.60,0.00,-4.85,0.000,20486,0.021,0.000,2378,2142,2388,2388,4095,0,0,0,0,0,0,26.19,24.41,26.23,10.19,53.62
$FINISH2,0.2
$STATE,1013,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1013,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,100917,125935
$TT8_MAMPS,0.025466,0.102613
$HUMID,53.46
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.54,76.647
$10V_AH,10.30,68.793
$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,23.825,5.350,61.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.166,208.522,140.863,206.859,145.761,0.000,304.017,0.000,215.971,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,45.900,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.710,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330608
$DATA_FILE_SIZE,10835,142
$CAP_FILE_SIZE,25799,0
$CFSIZE,1024409600,890683392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100917,130757,5938.599,-17104.045,5,0.7,18,8.3,0.0,253.1,11,4.8