version: 66.13
glider: 401
mission: 22
dive: 2086
start: 9 1 117 12 1 10
data:
$ID,401
$MISSION,22
$DIVE,2086
$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,25
$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
$GPS1,010917,115044,6006.7510,-17320.7871,3,0.9,25,7.2,0.3,255.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-40.8
$GPS2,010917,120031,6006.8032,-17320.8281,10,0.9,28,7.2,0.6,8.1,10,5.0
$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,122.3,2164,-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,-585.0,236,1944,1786,4092,0.0,0.0,0,21,8.50,0.00,0.00,0.000,2049,0.094,0.000,952,1945,1786,1786,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.25,51.57
$GC,27,-1.82,-585.0,951,1944,1786,4094,0.8,0.0,1,54,8.65,1.27,-13.15,0.000,18692,0.049,1.229,1749,2385,3171,3171,4095,0,0,0,0,0,0,25.86,24.03,25.91,10.26,51.49
$GC,189,-1.82,-585.0,1749,2385,3176,4095,19.8,-17.5,23,198,0.00,1.08,0.00,0.000,1030,0.000,0.028,1749,1953,3177,3177,4095,0,0,0,0,0,0,26.06,26.01,26.09,10.56,51.92
$GC,237,-1.82,-585.0,1749,1953,3178,4095,27.6,-14.8,29,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1953,3178,3178,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.52,50.74
$GC,285,-1.82,-585.0,1749,1953,3179,4094,34.3,-13.5,35,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1953,3179,3179,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.49,50.47
$GC,333,-1.82,-585.0,1749,1953,3180,4095,40.5,-13.3,41,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1953,3180,3180,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.46,49.01
$GC,381,-1.82,-585.0,1749,1953,3181,4095,47.2,-14.2,47,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1953,3181,3181,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.46,48.34
$GC,428,-1.82,-585.0,1749,1953,3183,4095,54.0,-14.4,53,437,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1953,3183,3183,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.44,47.87
$STATE,471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,471,begin apogee
$GC,483,-0.45,0.0,1749,2147,3183,4095,60.6,-13.6,59,527,4.68,0.00,33.88,1.333,10244,0.051,0.000,2186,2147,2484,2484,4094,0,0,0,0,0,0,26.10,25.13,24.01,10.43,46.65
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,529,begin climb
$GC,534,1.82,585.0,2186,2147,2483,4094,64.4,0.0,64,578,7.62,0.00,33.33,1.304,11270,0.029,0.000,2904,2147,1802,1802,4095,0,0,0,0,0,0,25.48,25.65,23.63,10.29,46.22
$GC,619,1.82,585.0,2903,2147,1801,4095,57.6,12.7,74,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2147,1801,1801,4094,0,0,0,0,0,0,25.48,25.48,25.48,10.13,45.55
$GC,668,1.82,585.0,2904,2147,1799,4094,50.7,13.6,80,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2147,1799,1799,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.12,45.66
$GC,718,1.82,585.0,2903,2147,1798,4094,44.2,13.0,86,727,0.00,1.17,0.00,0.000,516,0.000,0.043,2904,1707,1797,1797,4093,0,0,0,0,0,0,25.89,25.48,25.90,10.12,45.66
$GC,833,1.82,585.0,2904,1707,1795,4093,29.6,12.5,102,843,0.00,1.02,0.00,0.000,1030,0.000,0.029,2904,2125,1794,1794,4094,0,0,0,0,0,0,25.86,25.82,25.87,10.11,46.73
$GC,884,1.82,585.0,2903,2125,1793,4094,23.8,11.2,108,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2126,1793,1793,4094,0,0,0,0,0,0,26.22,26.23,26.22,10.15,47.75
$GC,932,1.82,585.0,2904,2125,1791,4094,18.2,11.3,114,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1791,1791,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.18,49.76
$GC,981,1.82,585.0,2904,2125,1790,4094,12.7,11.1,120,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1789,1789,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.19,51.06
$GC,1030,1.82,585.0,2904,2125,1788,4094,7.1,11.0,126,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2126,1788,1788,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.20,51.37
$STATE,1074,end climb,FINISH_DEPTH_REACHED
$STATE,1074,begin subsurface finish
$FINISH1,1.7,1.024168,100
$GC,1086,0.15,99.8,2904,2125,1786,4094,1.7,11.3,132,1105,5.25,1.17,-5.35,0.000,20996,0.023,1.234,2388,1705,2372,2372,4094,0,0,0,0,0,0,26.13,24.24,26.17,10.21,52.32
$FINISH2,0.1
$STATE,1106,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,104249
$TT8_MAMPS,0.025466,0.260652
$HUMID,52.52
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.30
$XPDR_PINGS,0
$24V_AH,23.63,60.902
$10V_AH,10.07,56.371
$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,34.700,6.200,67.200,0.000,0.000,22.944,26.541,255.835,0.000,0.000,30.021,383.989,0.000,122.769,838.063,355.799,0.000,356.237,0.000,329.094,0.000,0.543,0.000
$DEVICE_MAMPS,94.095,1233.945,1333.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.679,364.082,288.087,427.412,555.159,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329256
$DATA_FILE_SIZE,14366,134
$CAP_FILE_SIZE,28251,0
$CFSIZE,1024409600,916979712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010917,120031,6006.803,-17320.828,10,0.9,28,7.2,0.6,8.1,10,5.0