version: 66.13
glider: 401
mission: 22
dive: 2689
start: 9 11 117 17 6 21
data:
$ID,401
$MISSION,22
$DIVE,2689
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,110917,164614,5928.6553,-17053.7285,8,0.9,17,8.4,0.4,280.8,9,4.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-41.0
$GPS2,110917,170542,5928.7993,-17053.9766,5,0.8,19,8.4,0.6,295.2,10,4.8
$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,142.0,49901,-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,-487.5,231,1946,1882,4092,0.0,0.0,0,20,5.57,0.00,0.00,0.000,2049,0.093,0.000,701,1940,1882,1882,4095,0,0,0,0,0,0,26.30,28.83,28.83,10.27,51.06
$GC,27,-1.80,-487.5,700,1939,1882,4095,0.7,0.0,1,57,11.45,1.25,-11.10,0.000,18692,0.049,1.202,1754,2371,3055,3055,4095,0,0,0,0,0,0,25.91,23.58,25.96,10.27,50.51
$GC,135,-1.80,-487.5,1754,2372,3057,4095,9.0,-16.5,18,142,0.00,1.05,0.00,0.000,1030,0.000,0.028,1755,1957,3057,3057,4094,0,0,0,0,0,0,26.00,25.96,26.03,10.52,51.26
$GC,178,-1.80,-487.5,1754,1957,3058,4094,16.6,-18.6,24,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1957,3059,3059,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.53,50.35
$GC,220,-1.80,-487.5,1754,1956,3059,4095,23.9,-17.0,30,227,0.00,1.10,0.00,0.000,516,0.000,0.050,1755,1522,3060,3060,4094,0,0,0,0,0,0,26.42,25.90,26.43,10.50,50.00
$GC,311,-1.80,-487.5,1754,1522,3062,4094,36.1,-14.1,44,317,0.00,0.98,0.00,0.000,1030,0.000,0.026,1755,1941,3062,3062,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.45,49.96
$GC,353,-1.80,-487.5,1754,1941,3063,4094,42.1,-13.9,50,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1941,3063,3063,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,48.26
$GC,395,-1.80,-487.5,1754,1941,3064,4095,48.0,-14.0,56,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1941,3064,3064,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.42,47.71
$GC,437,-1.80,-487.5,1754,1941,3065,4094,53.8,-13.6,62,443,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1941,3066,3066,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,47.24
$STATE,448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,448,begin apogee
$GC,463,-0.45,0.0,1754,2134,3066,4095,56.3,-14.4,64,499,4.65,0.00,28.60,1.270,10244,0.054,0.000,2185,2135,2484,2484,4095,0,0,0,0,0,0,26.06,25.10,23.81,10.40,47.67
$STATE,500,end apogee,CONTROL_FINISHED_OK
$STATE,500,begin climb
$GC,506,1.80,487.5,2184,2134,2484,4095,60.2,0.0,70,548,7.57,0.00,28.23,1.242,11270,0.029,0.000,2901,2134,1916,1916,4094,0,0,0,0,0,0,25.65,25.84,23.46,10.28,46.69
$GC,584,1.80,487.5,2900,2134,1915,4094,54.2,12.3,82,591,0.00,1.15,0.00,0.000,516,0.000,0.045,2901,1707,1915,1915,4094,0,0,0,0,0,0,25.65,25.26,25.66,10.15,45.90
$GC,717,1.80,487.5,2901,1707,1911,4094,37.1,12.7,103,724,0.00,1.02,0.00,0.000,1030,0.000,0.029,2901,2123,1911,1911,4094,0,0,0,0,0,0,25.82,25.79,25.85,10.14,46.65
$GC,760,1.80,487.5,2900,2123,1910,4094,31.6,12.9,109,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2124,1910,1910,4094,0,0,0,0,0,0,26.21,26.23,26.22,10.13,46.88
$GC,801,1.80,487.5,2900,2123,1908,4094,25.9,13.4,115,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2123,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.13,47.16
$GC,843,1.80,487.5,2901,2123,1907,4094,20.5,12.4,121,850,0.00,1.10,0.00,0.000,516,0.000,0.046,2901,1707,1907,1907,4094,0,0,0,0,0,0,26.34,25.86,26.34,10.16,48.11
$GC,940,1.80,487.5,2901,1707,1904,4094,9.8,11.1,136,946,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2120,1905,1905,4094,0,0,0,0,0,0,26.10,26.08,26.14,10.20,51.45
$GC,982,1.80,487.5,2901,2120,1903,4094,4.8,11.9,142,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2120,1903,1903,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.21,52.52
$STATE,1006,end climb,FINISH_DEPTH_REACHED
$STATE,1006,begin subsurface finish
$FINISH1,1.4,1.024324,89
$GC,1022,0.13,88.9,2901,2120,1902,4095,1.4,11.3,146,1035,5.32,0.00,-4.40,0.000,20486,0.025,0.000,2380,2120,2385,2385,4095,0,0,0,0,0,0,26.21,24.39,26.25,10.22,52.40
$FINISH2,0.1
$STATE,1036,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1036,begin surface
$IRIDIUM_FIX,5745.42,17133.94,110917,165516
$TT8_MAMPS,0.025466,0.160286
$HUMID,52.83
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.46,78.610
$10V_AH,10.11,70.352
$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,34.575,9.100,56.825,0.000,0.000,90.285,68.447,541.026,0.000,0.000,20.219,392.155,317.871,141.326,748.417,601.789,0.000,310.218,0.000,226.095,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,1201.815,1269.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333600
$DATA_FILE_SIZE,10854,148
$CAP_FILE_SIZE,32964,0
$CFSIZE,1024409600,887324672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110917,170542,5928.799,-17053.977,5,0.8,19,8.4,0.6,295.2,10,4.8