version: 66.13
glider: 401
mission: 22
dive: 2084
start: 9 1 117 11 9 25
data:
$ID,401
$MISSION,22
$DIVE,2084
$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,31
$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
$GPS1,010917,104846,6006.8682,-17321.6406,10,0.9,15,7.2,0.0,267.2,10,4.9
$_CALLS,6
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.9
$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,-585.0,2387,1952,2373,4092,0.0,0.0,0,22,6.38,0.00,-2.03,0.000,20482,0.022,0.000,1757,1952,2591,2591,4094,0,0,0,0,0,0,26.20,28.83,26.25,10.36,52.67
$GC,28,-1.82,-585.0,1756,1952,2592,4094,0.0,0.0,1,38,0.00,1.20,-4.95,0.000,16900,0.000,1.250,1756,1523,3172,3172,4094,0,0,0,0,0,0,26.46,24.19,26.46,10.40,52.59
$GC,97,-1.82,-585.0,1756,1522,3174,4094,8.8,-16.7,10,106,0.00,1.02,0.00,0.000,1030,0.000,0.027,1757,1949,3174,3174,4095,0,0,0,0,0,0,26.16,26.12,26.16,10.53,52.79
$GC,146,-1.82,-585.0,1755,1949,3176,4095,17.4,-17.9,16,154,0.00,1.12,0.00,0.000,260,0.000,0.047,1757,2376,3175,3175,4094,0,0,0,0,0,0,26.46,26.01,26.48,10.54,52.59
$GC,193,-1.82,-585.0,1756,2376,3177,4094,25.4,-16.0,22,203,0.00,1.05,0.00,0.000,1030,0.000,0.030,1757,1956,3177,3177,4095,0,0,0,0,0,0,26.17,26.13,26.20,10.53,52.24
$GC,242,-1.82,-585.0,1756,1955,3178,4095,31.9,-13.3,28,251,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1956,3178,3178,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.49,51.57
$GC,290,-1.82,-585.0,1756,1955,3179,4095,38.2,-13.1,34,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1956,3179,3179,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.47,50.74
$GC,337,-1.82,-585.0,1756,1955,3180,4095,44.5,-13.4,40,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1955,3180,3180,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.45,49.25
$GC,385,-1.82,-585.0,1756,1956,3182,4095,50.7,-13.1,46,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1956,3182,3182,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.43,48.58
$GC,432,-1.82,-585.0,1755,1956,3183,4095,56.9,-13.1,52,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1956,3183,3183,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.42,49.05
$STATE,457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,457,begin apogee
$GC,469,-0.45,0.0,1756,2147,3183,4094,60.6,-12.7,55,513,4.60,0.00,33.72,1.331,10244,0.051,0.000,2186,2147,2485,2485,4094,0,0,0,0,0,0,26.16,25.27,24.06,10.42,48.26
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,520,1.82,585.0,2186,2146,2485,4094,64.4,0.0,60,564,7.62,0.00,33.42,1.294,11270,0.029,0.000,2904,2147,1802,1802,4094,0,0,0,0,0,0,25.51,25.70,23.68,10.28,47.16
$GC,605,1.82,585.0,2903,2147,1801,4094,57.4,13.3,70,614,0.00,1.17,0.00,0.000,516,0.000,0.044,2904,1714,1801,1801,4095,0,0,0,0,0,0,25.49,25.16,25.51,10.12,46.41
$GC,680,1.82,585.0,2903,1713,1798,4095,47.0,13.3,80,689,0.00,1.02,0.00,0.000,1030,0.000,0.029,2904,2126,1798,1798,4094,0,0,0,0,0,0,25.56,25.52,25.58,10.11,46.96
$GC,729,1.82,585.0,2903,2126,1797,4094,40.5,13.7,86,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2126,1797,1797,4094,0,0,0,0,0,0,25.97,25.98,25.98,10.11,46.92
$GC,776,1.82,585.0,2904,2126,1795,4094,34.0,13.8,92,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2126,1795,1795,4094,0,0,0,0,0,0,26.07,26.09,26.08,10.10,47.00
$GC,824,1.82,585.0,2903,2126,1794,4094,27.6,13.4,98,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2126,1794,1794,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.12,47.28
$GC,872,1.82,585.0,2903,2126,1793,4094,21.7,11.6,104,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2126,1792,1792,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.14,48.74
$GC,920,1.82,585.0,2903,2126,1791,4094,16.3,11.3,110,929,0.00,1.10,0.00,0.000,516,0.000,0.046,2904,1711,1791,1791,4094,0,0,0,0,0,0,26.28,25.84,26.29,10.17,50.82
$STATE,1048,end climb,FINISH_DEPTH_REACHED
$STATE,1048,begin subsurface finish
$FINISH1,1.9,1.024163,100
$GC,1062,0.15,100.2,2904,2149,1787,4094,1.9,11.2,129,1079,5.18,0.00,-5.07,0.000,20486,0.018,0.000,2387,2149,2374,2374,4094,0,0,0,0,0,0,26.15,25.44,26.18,10.20,52.28
$FINISH2,0.3
$STATE,1080,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1080,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,104110
$TT8_MAMPS,0.025466,0.256158
$HUMID,52.40
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.68,60.834
$10V_AH,10.09,56.321
$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,23.775,9.775,67.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,363.987,0.000,118.441,545.867,115.054,0.000,344.111,0.000,319.379,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1250.010,1331.100,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.644,355.917,281.642,417.801,544.236,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,10875,131
$CAP_FILE_SIZE,24905,0
$CFSIZE,1024409600,917078016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,104846,6006.868,-17321.641,10,0.9,15,7.2,0.0,267.2,10,4.9