version: 66.13
glider: 401
mission: 22
dive: 2032
start: 8 31 117 13 46 0
data:
$ID,401
$MISSION,22
$DIVE,2032
$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,29
$R_STBD_OVSHOOT,32
$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
$GPS1,310817,132952,6014.4570,-17328.4316,5,0.9,22,7.2,0.0,60.7,10,5.0
$_CALLS,4
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-37.0
$GPS2,310817,134521,6014.4678,-17328.3848,5,0.8,23,7.2,0.4,78.4,10,4.8
$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,143.8,17811,-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,-585.0,236,1944,1737,4092,0.0,0.0,0,21,8.50,0.00,0.00,0.000,2049,0.096,0.000,947,1945,1737,1737,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.25,52.00
$GC,27,-1.82,-585.0,946,1944,1737,4094,0.7,0.0,1,55,8.70,1.23,-13.45,0.000,18692,0.047,1.229,1752,2373,3172,3172,4094,0,0,0,0,0,0,25.90,23.99,25.93,10.25,51.41
$GC,314,-1.82,-585.0,1751,2374,3178,4094,32.1,-13.5,42,323,0.00,1.05,0.00,0.000,1030,0.000,0.028,1752,1953,3178,3178,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.49,49.96
$GC,362,-1.82,-585.0,1751,1953,3179,4094,38.9,-14.3,48,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1953,3180,3180,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,48.77
$GC,410,-1.82,-585.0,1751,1953,3180,4095,45.5,-13.7,54,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1953,3181,3181,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.46,47.63
$GC,458,-1.82,-585.0,1751,1953,3182,4094,52.0,-13.7,60,466,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1953,3182,3182,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.45,47.12
$GC,505,-1.82,-585.0,1751,1953,3183,4095,58.7,-13.8,66,514,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1953,3182,3182,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.44,47.36
$STATE,522,end dive,TARGET_DEPTH_EXCEEDED
$STATE,522,begin apogee
$GC,534,-0.45,0.0,1751,2143,3183,4094,61.7,-14.1,68,577,4.68,0.00,33.83,1.336,10244,0.052,0.000,2186,2143,2484,2484,4095,0,0,0,0,0,0,26.08,25.13,24.01,10.43,46.85
$STATE,578,end apogee,CONTROL_FINISHED_OK
$STATE,578,begin climb
$GC,583,1.82,585.0,2186,2142,2484,4095,65.6,0.0,73,628,7.68,0.00,33.58,1.297,11270,0.029,0.000,2904,2143,1802,1802,4094,0,0,0,0,0,0,25.47,25.63,23.63,10.29,46.18
$GC,669,1.82,585.0,2903,2142,1801,4094,58.8,12.7,83,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2143,1801,1801,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.13,44.84
$GC,718,1.82,585.0,2903,2142,1799,4094,52.3,13.2,89,728,0.00,1.15,0.00,0.000,516,0.000,0.043,2904,1709,1799,1799,4094,0,0,0,0,0,0,25.71,25.34,25.72,10.13,45.19
$GC,812,1.82,585.0,2903,1709,1795,4094,39.5,13.2,102,822,0.00,1.05,0.00,0.000,1030,0.000,0.031,2904,2132,1796,1796,4094,0,0,0,0,0,0,25.71,25.65,25.73,10.12,46.10
$GC,863,1.82,585.0,2903,2132,1794,4094,33.2,13.0,108,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1794,1794,4094,0,0,0,0,0,0,26.09,26.10,26.10,10.11,46.81
$GC,912,1.82,585.0,2903,2132,1793,4094,26.8,12.8,114,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.11,47.12
$GC,961,1.82,585.0,2903,2132,1791,4094,20.6,12.2,120,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2132,1791,1791,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.14,47.24
$GC,1010,1.82,585.0,2903,2132,1790,4094,15.4,10.6,126,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1789,1789,4094,0,0,0,0,0,0,26.29,26.29,26.30,10.17,49.29
$GC,1059,1.82,585.0,2903,2132,1788,4094,10.0,11.5,132,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2133,1788,1788,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.18,50.55
$GC,1108,2.03,730.1,2903,2132,1787,4094,5.4,8.7,138,1126,0.65,1.10,8.48,0.562,10756,0.028,0.041,2978,1711,1633,1633,4094,0,0,0,0,0,0,26.13,25.32,24.82,10.19,51.06
$STATE,1134,end climb,FINISH_DEPTH_REACHED
$STATE,1134,begin subsurface finish
$FINISH1,1.6,1.024180,99
$GC,1148,0.15,99.0,2978,2146,1632,4094,1.6,10.7,141,1166,6.05,0.00,-6.62,0.000,20998,0.022,0.000,2389,2147,2374,2374,4094,0,0,0,0,0,0,26.02,24.38,26.08,10.17,51.49
$FINISH2,0.1
$STATE,1167,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1167,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,310817,133731
$TT8_MAMPS,0.025466,0.253911
$HUMID,51.77
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.63,59.145
$10V_AH,10.07,55.093
$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,36.250,7.150,75.875,0.000,0.000,118.688,100.522,289.695,0.000,0.000,24.766,402.791,135.405,128.064,1084.855,352.689,0.000,371.671,0.000,349.745,0.000,0.544,0.000
$DEVICE_MAMPS,95.625,1228.590,1336.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.903,388.514,307.441,456.127,594.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329364
$DATA_FILE_SIZE,14333,143
$CAP_FILE_SIZE,31168,0
$CFSIZE,1024409600,919633920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310817,134521,6014.468,-17328.385,5,0.8,23,7.2,0.4,78.4,10,4.8