version: 66.13
glider: 401
mission: 22
dive: 2082
start: 9 1 117 10 8 55
data:
$ID,401
$MISSION,22
$DIVE,2082
$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,31
$R_STBD_OVSHOOT,28
$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,0.03
$_SM_ANGLEo,-2.0
$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,-585.0,2387,1947,2372,4092,0.0,0.0,0,22,6.38,0.00,-2.00,0.000,20482,0.022,0.000,1762,1947,2586,2586,4094,0,0,0,0,0,0,26.16,28.83,26.22,10.34,54.29
$GC,27,-1.82,-585.0,1761,1947,2586,4094,0.0,0.0,1,38,0.00,1.17,-5.65,0.000,16900,0.000,1.256,1762,1527,3171,3171,4095,0,0,0,0,0,0,26.46,24.20,26.47,10.38,53.66
$GC,148,-1.82,-585.0,1761,1527,3174,4095,16.1,-17.5,18,157,0.00,1.00,0.00,0.000,1030,0.000,0.028,1761,1949,3175,3175,4094,0,0,0,0,0,0,26.22,26.17,26.22,10.52,53.85
$GC,196,-1.82,-585.0,1761,1949,3176,4094,24.2,-17.1,24,205,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1949,3176,3176,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.52,53.30
$GC,243,-1.82,-585.0,1761,1949,3177,4095,31.2,-13.7,30,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1949,3178,3178,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.48,53.03
$GC,291,-1.82,-585.0,1761,1949,3178,4094,37.5,-12.8,36,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1949,3179,3179,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.45,52.71
$GC,339,-1.82,-585.0,1761,1949,3179,4095,43.6,-12.6,42,349,0.00,1.10,0.00,0.000,260,0.000,0.047,1762,2373,3180,3180,4095,0,0,0,0,0,0,26.57,26.10,26.58,10.44,51.14
$GC,439,-1.82,-585.0,1761,2373,3181,4095,55.5,-11.9,56,449,0.00,1.10,0.00,0.000,1030,0.000,0.031,1761,1933,3182,3182,4094,0,0,0,0,0,0,26.25,26.22,26.29,10.42,50.19
$STATE,476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,476,begin apogee
$GC,488,-0.45,0.0,1761,2142,3182,4095,60.6,-12.2,61,533,4.53,0.00,33.78,1.343,10244,0.050,0.000,2185,2142,2484,2484,4094,0,0,0,0,0,0,26.17,25.18,24.06,10.41,48.85
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,539,1.82,585.0,2185,2141,2484,4094,64.0,0.0,66,583,7.65,0.00,33.58,1.297,11270,0.029,0.000,2903,2142,1801,1801,4094,0,0,0,0,0,0,25.51,25.69,23.66,10.26,48.22
$GC,624,1.82,585.0,2903,2142,1800,4094,56.9,13.2,76,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2142,1800,1800,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.11,47.08
$GC,673,1.82,585.0,2903,2141,1798,4094,50.0,14.2,82,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2142,1798,1798,4094,0,0,0,0,0,0,25.72,25.74,25.74,10.11,47.00
$GC,723,1.82,585.0,2903,2141,1797,4094,43.1,13.3,88,733,0.00,1.15,0.00,0.000,516,0.000,0.044,2904,1713,1796,1796,4095,0,0,0,0,0,0,25.89,25.49,25.91,10.10,47.67
$GC,831,1.82,585.0,2903,1712,1794,4095,28.5,13.6,103,840,0.00,1.02,0.00,0.000,1030,0.000,0.029,2904,2129,1793,1793,4094,0,0,0,0,0,0,25.83,25.80,25.86,10.10,47.91
$GC,879,1.82,585.0,2903,2129,1792,4094,22.2,12.7,109,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2129,1791,1791,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.13,48.70
$GC,927,1.82,585.0,2903,2129,1790,4094,16.5,11.6,115,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2129,1790,1790,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.16,50.59
$GC,975,1.82,585.0,2903,2129,1789,4094,11.1,11.2,121,984,0.00,1.10,0.00,0.000,516,0.000,0.046,2904,1713,1789,1789,4094,0,0,0,0,0,0,26.31,25.86,26.32,10.18,51.85
$STATE,1059,end climb,SURFACE_DEPTH_REACHED
$STATE,1059,begin surface coast
$FINISH,0.0,1.024165
$STATE,1082,end surface coast,CONTROL_FINISHED_OK
$STATE,1082,begin surface
$SM_CCo,1188,0.00,0.000,0,0,1786,600.16
$SM_GC,0.74,27.70,0.60,0.00,0.020,0.031,0.000,237,1967,1786,-6.55,-1.09,600.16,0,0,0,0,0,0,26.16,26.14,26.20
$IRIDIUM_FIX,5952.82,-17420.78,010917,080910
$TT8_MAMPS,0.025466,0.251664
$HUMID,53.07
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.66,60.753
$10V_AH,10.11,56.270
$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,46.250,9.200,67.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.161,60.584,130.767,566.228,115.181,0.000,343.753,0.000,331.954,0.000,0.542,0.000
$DEVICE_MAMPS,50.490,1256.130,1342.575,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.602,369.489,292.419,433.831,565.167,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,14311,136
$CAP_FILE_SIZE,24922,0
$CFSIZE,1024409600,917176320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,102941,6006.827,-17321.471,3,0.9,14,7.2,0.3,305.7,9,4.6