version: 66.13
glider: 401
mission: 22
dive: 2081
start: 9 1 117 9 48 48
data:
$ID,401
$MISSION,22
$DIVE,2081
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,010917,092728,6007.0449,-17322.0957,10,1.0,55,7.2,0.3,235.3,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-1.4
$GPS2,010917,092728,6007.0449,-17322.0957,10,1.0,55,7.2,0.3,235.3,8,3.0
$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,115.5,3375,-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,-585.0,2388,1947,2364,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.023,0.000,1833,1948,2363,2363,4094,0,0,0,0,0,0,26.40,28.83,28.83,10.34,52.20
$GC,24,-1.82,-585.0,1832,1948,2363,4094,0.1,0.0,1,38,0.52,1.25,-7.68,0.000,20740,0.036,1.238,1773,2373,3170,3170,4095,0,0,0,0,0,0,26.10,24.18,26.13,10.35,52.24
$GC,138,-1.82,-585.0,1772,2373,3173,4095,13.9,-17.4,19,145,0.00,1.05,0.00,0.000,1030,0.000,0.030,1773,1954,3172,3172,4095,0,0,0,0,0,0,26.10,26.06,26.13,10.52,52.04
$GC,180,-1.82,-585.0,1772,1954,3174,4095,21.2,-17.6,25,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1954,3174,3174,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.52,52.16
$GC,220,-1.82,-585.0,1772,1954,3175,4095,27.2,-14.2,31,227,0.00,1.08,0.00,0.000,516,0.000,0.050,1773,1524,3176,3176,4095,0,0,0,0,0,0,26.47,26.01,26.48,10.50,52.24
$GC,304,-1.82,-585.0,1772,1524,3177,4095,38.2,-13.1,44,310,0.00,0.95,0.00,0.000,1030,0.000,0.026,1773,1936,3177,3177,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.45,50.55
$GC,345,-1.82,-585.0,1773,1936,3178,4095,43.5,-12.7,50,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1936,3178,3178,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.44,50.47
$GC,386,-1.82,-585.0,1772,1936,3179,4094,48.6,-12.0,56,392,0.00,1.12,0.00,0.000,260,0.000,0.043,1773,2370,3179,3179,4094,0,0,0,0,0,0,26.55,26.10,26.56,10.43,49.52
$GC,463,-1.82,-585.0,1772,2370,3181,4094,58.0,-12.2,68,469,0.00,1.05,0.00,0.000,1030,0.000,0.031,1773,1948,3181,3181,4095,0,0,0,0,0,0,26.23,26.20,26.27,10.42,48.85
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,486,-0.45,0.0,1773,2140,3181,4095,60.0,-12.2,70,528,4.40,0.00,33.58,1.316,10244,0.050,0.000,2187,2141,2484,2484,4095,0,0,0,0,0,0,26.15,25.17,24.08,10.42,48.58
$STATE,529,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,534,1.82,585.0,2186,2140,2484,4095,63.1,0.0,77,582,7.60,0.00,33.40,1.278,11270,0.029,0.000,2904,2140,1802,1802,4094,0,0,0,0,0,0,25.51,25.67,23.68,10.26,48.07
$GC,617,1.82,585.0,2904,2140,1800,4094,55.8,13.4,90,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1800,1800,4094,0,0,0,0,0,0,25.47,25.48,25.48,10.12,46.92
$GC,658,1.82,585.0,2904,2140,1799,4094,50.0,14.0,96,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1799,1799,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.11,46.73
$GC,699,1.82,585.0,2904,2140,1798,4094,44.4,13.7,102,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1797,1797,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.10,47.83
$GC,739,1.82,585.0,2904,2140,1796,4094,38.8,14.0,108,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1796,1796,4094,0,0,0,0,0,0,25.95,25.96,25.96,10.10,48.03
$GC,780,1.82,585.0,2904,2140,1795,4094,33.3,13.4,114,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2140,1795,1795,4094,0,0,0,0,0,0,26.04,26.06,26.06,10.10,47.40
$GC,820,1.82,585.0,2904,2140,1794,4094,28.0,12.8,120,827,0.00,1.12,0.00,0.000,516,0.000,0.046,2904,1713,1794,1794,4094,0,0,0,0,0,0,26.12,25.69,26.13,10.10,48.11
$GC,992,1.82,585.0,2904,1712,1789,4094,9.6,10.7,147,999,0.00,0.98,0.00,0.000,1030,0.000,0.028,2905,2116,1789,1789,4094,0,0,0,0,0,0,26.04,26.04,26.06,10.18,52.48
$GC,1033,1.82,585.0,2903,2116,1788,4094,4.7,10.9,153,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2116,1787,1787,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.19,52.87
$STATE,1057,end climb,FINISH_DEPTH_REACHED
$STATE,1057,begin subsurface finish
$FINISH1,1.5,1.024161,100
$GC,1069,0.15,100.3,2904,2116,1786,4094,1.5,11.3,157,1083,5.22,0.00,-5.30,0.000,20486,0.018,0.000,2387,2116,2373,2373,4094,0,0,0,0,0,0,26.12,24.41,26.17,10.19,53.66
$FINISH2,0.1
$STATE,1084,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1084,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,080910
$TT8_MAMPS,0.026215,0.103362
$HUMID,53.54
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.68,60.727
$10V_AH,10.34,56.239
$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,23.350,9.475,66.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,410.023,251.724,141.032,231.049,113.459,0.000,311.993,0.000,239.930,0.000,0.542,0.000
$DEVICE_MAMPS,49.725,1237.770,1315.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,10886,159
$CAP_FILE_SIZE,25835,0
$CFSIZE,1024409600,917225472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,092728,6007.045,-17322.096,10,1.0,55,7.2,0.3,235.3,8,3.0