version: 66.13
glider: 401
mission: 22
dive: 2083
start: 9 1 117 10 49 25
data:
$ID,401
$MISSION,22
$DIVE,2083
$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,25
$R_STBD_OVSHOOT,39
$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
$GPS1,010917,102941,6006.8267,-17321.4707,3,0.9,14,7.2,0.3,305.7,9,4.6
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-41.8
$GPS2,010917,104846,6006.8682,-17321.6406,10,0.9,15,7.2,0.0,267.2,10,4.9
$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,114.5,2845,-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,-585.0,237,1973,1785,4092,0.0,0.0,0,18,5.68,0.00,0.00,0.000,2049,0.103,0.000,706,1974,1785,1785,4094,0,0,0,0,0,0,26.23,28.83,28.83,10.27,50.47
$GC,24,-1.82,-585.0,705,1973,1784,4094,0.8,0.0,1,55,11.25,1.15,-13.05,0.000,18692,0.045,1.232,1752,2370,3172,3172,4094,0,0,0,0,0,0,25.84,23.94,25.93,10.28,50.19
$GC,184,-1.82,-585.0,1751,2370,3175,4094,19.9,-17.6,26,191,0.00,1.05,0.00,0.000,1030,0.000,0.028,1752,1952,3175,3175,4095,0,0,0,0,0,0,26.01,25.98,26.04,10.58,50.35
$GC,226,-1.82,-585.0,1752,1952,3176,4095,26.8,-15.2,32,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3177,3177,4095,0,0,0,0,0,0,26.36,26.38,26.37,10.55,50.35
$GC,266,-1.82,-585.0,1752,1952,3178,4095,32.7,-14.7,38,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1952,3178,3178,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.52,49.60
$GC,307,-1.82,-585.0,1752,1952,3179,4095,38.3,-13.4,44,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3179,3179,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.49,48.89
$GC,348,-1.82,-585.0,1752,1952,3180,4094,43.9,-14.1,50,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3181,3181,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.48,48.50
$GC,388,-1.82,-585.0,1752,1951,3181,4095,49.5,-13.6,56,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1952,3181,3181,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.47,47.16
$GC,429,-1.82,-585.0,1752,1952,3181,4095,55.1,-13.7,62,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3182,3182,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.45,47.16
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,476,-0.45,0.0,1752,2134,3183,4094,60.5,-13.6,68,518,4.65,0.00,33.88,1.334,10244,0.051,0.000,2185,2134,2484,2484,4095,0,0,0,0,0,0,26.07,25.10,23.97,10.45,46.65
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,525,1.82,585.0,2185,2133,2484,4095,63.9,0.0,75,572,7.60,0.00,33.58,1.291,11270,0.029,0.000,2904,2134,1800,1800,4094,0,0,0,0,0,0,25.46,25.61,23.62,10.31,45.82
$GC,607,1.82,585.0,2903,2133,1799,4094,56.5,13.5,88,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2134,1799,1799,4094,0,0,0,0,0,0,25.44,25.46,25.45,10.15,45.39
$GC,647,1.82,585.0,2904,2133,1797,4094,50.6,14.8,94,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1797,1797,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.14,45.11
$GC,688,1.82,585.0,2903,2134,1796,4094,44.8,13.9,100,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2134,1796,1796,4094,0,0,0,0,0,0,25.82,25.84,25.83,10.13,45.35
$GC,729,1.82,585.0,2903,2133,1795,4094,39.3,13.2,106,735,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1712,1795,1795,4094,0,0,0,0,0,0,25.94,25.53,25.95,10.13,45.94
$GC,830,1.82,585.0,2903,1711,1792,4094,25.9,12.3,122,836,0.00,1.00,0.00,0.000,1030,0.000,0.028,2904,2122,1791,1791,4094,0,0,0,0,0,0,25.86,25.83,25.89,10.14,46.92
$GC,871,1.82,585.0,2903,2122,1790,4094,21.3,11.6,128,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2123,1790,1790,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.17,48.03
$GC,912,1.82,585.0,2903,2122,1789,4094,16.8,11.0,134,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2123,1789,1789,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.19,50.15
$GC,952,1.82,585.0,2903,2122,1788,4094,12.4,11.1,140,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2123,1788,1788,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.19,50.98
$GC,993,1.82,585.0,2903,2122,1787,4095,8.0,10.8,146,1000,0.00,1.08,0.00,0.000,516,0.000,0.044,2904,1713,1787,1787,4095,0,0,0,0,0,0,26.34,25.89,26.35,10.21,51.37
$STATE,1048,end climb,FINISH_DEPTH_REACHED
$STATE,1048,begin subsurface finish
$FINISH1,1.4,1.024161,100
$GC,1062,0.15,100.3,2904,2142,1785,4095,1.4,10.8,155,1076,5.22,0.00,-5.32,0.000,20486,0.022,0.000,2387,2144,2373,2373,4095,0,0,0,0,0,0,26.10,24.40,26.15,10.22,52.08
$FINISH2,0.1
$STATE,1077,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1077,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,104110
$TT8_MAMPS,0.025466,0.133322
$HUMID,52.63
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,23.62,60.809
$10V_AH,10.29,56.291
$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,34.400,6.925,67.450,0.000,0.000,142.529,151.451,322.222,0.000,0.000,16.199,409.257,459.577,158.302,811.524,389.380,0.000,338.754,0.000,238.768,0.000,0.542,0.000
$DEVICE_MAMPS,102.510,1231.650,1334.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.543,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10872,157
$CAP_FILE_SIZE,35347,0
$CFSIZE,1024409600,917110784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010917,104846,6006.868,-17321.641,10,0.9,15,7.2,0.0,267.2,10,4.9