version: 66.13
glider: 401
mission: 22
dive: 2071
start: 9 1 117 5 42 35
data:
$ID,401
$MISSION,22
$DIVE,2071
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,600
$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,51
$R_STBD_OVSHOOT,45
$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
$GPS1,010917,053135,6009.2769,-17322.4199,3,1.0,14,7.2,0.6,75.0,9,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-37.4
$GPS2,010917,054155,6009.2017,-17322.3711,10,0.8,17,7.2,0.0,209.5,11,4.5
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W20S
$TGT_LATLONG,6006.060,-17319.020
$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,144.8,6590,-10.3,-10.526,-13.92,8308
$D_GRID,60
$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,11,-1.82,-585.0,235,1980,1705,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.093,0.000,707,1981,1705,1705,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.24,52.08
$GC,24,-1.82,-585.0,707,1980,1706,4094,0.6,0.0,1,55,11.30,1.10,-13.85,0.000,18692,0.046,1.229,1751,2365,3171,3171,4095,0,0,0,0,0,0,25.82,23.96,25.92,10.24,51.57
$GC,291,-1.82,-585.0,1750,2365,3178,4095,35.9,-13.6,44,297,0.00,0.98,0.00,0.000,1030,0.000,0.028,1751,1978,3178,3178,4094,0,0,0,0,0,0,26.14,26.10,26.16,10.47,49.92
$GC,332,-1.82,-585.0,1750,1979,3179,4094,41.6,-14.0,50,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1978,3179,3179,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.46,48.66
$GC,373,-1.82,-585.0,1750,1979,3180,4095,47.5,-14.0,56,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1979,3181,3181,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.45,48.26
$GC,413,-1.82,-585.0,1750,1979,3181,4095,53.2,-14.4,62,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1979,3181,3181,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.44,47.63
$GC,454,-1.82,-585.0,1750,1979,3182,4094,59.1,-14.4,68,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1979,3182,3182,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.43,48.34
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,477,-0.45,0.0,1751,2128,3183,4095,61.5,-14.8,70,518,4.70,0.00,33.75,1.330,10244,0.052,0.000,2186,2129,2484,2484,4094,0,0,0,0,0,0,26.07,25.11,23.99,10.43,47.48
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,525,1.82,585.0,2185,2128,2484,4094,65.2,0.0,77,573,7.57,1.10,33.45,1.297,10756,0.028,0.041,2904,1709,1802,1802,4094,0,0,0,0,0,0,25.37,25.33,23.61,10.28,46.92
$GC,642,1.82,585.0,2904,1709,1800,4094,54.2,13.2,95,649,0.00,1.08,0.00,0.000,1030,0.000,0.028,2904,2138,1800,1800,4094,0,0,0,0,0,0,25.37,25.34,25.39,10.12,46.73
$GC,684,1.82,585.0,2904,2137,1798,4094,48.0,13.7,101,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2137,1798,1798,4094,0,0,0,0,0,0,25.79,25.81,25.80,10.12,46.69
$GC,724,1.82,585.0,2904,2137,1797,4094,42.2,14.3,107,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2138,1796,1796,4094,0,0,0,0,0,0,25.91,25.93,25.93,10.11,46.41
$GC,765,1.82,585.0,2904,2137,1796,4094,36.6,13.5,113,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2138,1795,1795,4094,0,0,0,0,0,0,26.01,26.03,26.03,10.11,46.65
$GC,805,1.82,585.0,2904,2137,1794,4094,31.1,13.9,119,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,1794,1794,4094,0,0,0,0,0,0,26.10,26.11,26.10,10.11,47.28
$GC,846,1.82,585.0,2904,2137,1793,4094,25.8,12.9,125,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2138,1793,1793,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,47.08
$GC,886,1.82,585.0,2904,2137,1791,4094,20.6,13.4,131,893,0.00,1.12,0.00,0.000,516,0.000,0.045,2904,1712,1791,1791,4094,0,0,0,0,0,0,26.22,25.78,26.23,10.11,48.50
$GC,970,1.83,594.2,2904,1712,1789,4094,11.9,10.4,144,977,0.00,1.02,0.00,0.000,1030,0.000,0.029,2905,2131,1789,1789,4094,0,0,0,0,0,0,26.01,25.97,26.03,10.17,50.78
$GC,1011,1.83,594.2,2904,2131,1788,4094,7.5,11.0,150,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2131,1788,1788,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.18,51.53
$GC,1052,1.83,594.2,2904,2131,1787,4094,3.1,10.9,156,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2131,1786,1786,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.19,52.67
$STATE,1063,end climb,FINISH_DEPTH_REACHED
$STATE,1063,begin subsurface finish
$FINISH1,1.3,1.024152,101
$GC,1075,0.15,100.9,2904,2131,1786,4094,1.3,11.3,158,1089,5.25,0.00,-5.32,0.000,20486,0.021,0.000,2389,2131,2373,2373,4094,0,0,0,0,0,0,26.10,24.40,26.15,10.20,53.18
$FINISH2,0.0
$STATE,1090,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1090,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,042435
$TT8_MAMPS,0.026215,0.160286
$HUMID,52.87
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.61,60.407
$10V_AH,10.21,56.000
$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,34.425,6.775,67.200,0.000,0.000,25.062,20.805,302.217,0.000,0.000,18.261,414.757,244.713,153.879,536.581,367.257,0.000,333.504,0.000,242.937,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,1228.590,1330.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.903,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10869,160
$CAP_FILE_SIZE,30545,0
$CFSIZE,1024409600,917716992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010917,054155,6009.202,-17322.371,10,0.8,17,7.2,0.0,209.5,11,4.5