version: 66.13
glider: 401
mission: 22
dive: 2051
start: 8 31 117 21 28 22
data:
$ID,401
$MISSION,22
$DIVE,2051
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,310817,210733,6011.6992,-17328.2168,5,0.7,21,7.2,0.7,356.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-3.3
$GPS2,310817,210733,6011.6992,-17328.2168,5,0.7,21,7.2,0.7,356.0,11,4.9
$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,133.7,13460,-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,6,begin dive
$GC,11,-1.82,-585.0,2388,1964,2372,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.024,0.000,1838,1965,2372,2372,4094,0,0,0,0,0,0,26.38,28.83,28.83,10.35,52.24
$GC,25,-1.82,-585.0,1838,1964,2372,4094,0.0,0.0,1,38,0.70,1.23,-7.57,0.000,20996,0.030,1.252,1762,1529,3169,3169,4095,0,0,0,0,0,0,26.10,24.18,26.13,10.34,51.85
$GC,262,-1.82,-585.0,1761,1528,3175,4095,31.5,-11.9,39,268,0.00,0.98,0.00,0.000,1030,0.000,0.027,1761,1947,3176,3176,4094,0,0,0,0,0,0,26.20,26.18,26.23,10.46,52.04
$GC,303,-1.82,-585.0,1761,1946,3176,4094,36.8,-12.6,45,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3177,3177,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.44,51.14
$GC,344,-1.82,-585.0,1761,1947,3177,4095,42.2,-13.8,51,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3178,3178,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.43,50.15
$GC,384,-1.82,-585.0,1761,1947,3179,4094,47.8,-13.9,57,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3179,3179,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.43,49.72
$GC,425,-1.82,-585.0,1761,1947,3179,4094,53.5,-14.1,63,431,0.00,1.10,0.00,0.000,260,0.000,0.044,1762,2370,3180,3180,4094,0,0,0,0,0,0,26.56,26.10,26.57,10.42,49.68
$STATE,473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,473,begin apogee
$GC,485,-0.45,0.0,1761,2111,3181,4095,60.8,-13.7,71,527,4.57,0.00,33.53,1.316,10244,0.053,0.000,2185,2110,2484,2484,4094,0,0,0,0,0,0,26.13,25.17,24.07,10.41,49.60
$STATE,528,end apogee,CONTROL_FINISHED_OK
$STATE,528,begin climb
$GC,533,1.82,585.0,2184,2110,2484,4094,64.5,0.0,78,580,7.68,0.00,33.38,1.291,11270,0.030,0.000,2902,2110,1801,1801,4094,0,0,0,0,0,0,25.49,25.66,23.66,10.26,48.03
$GC,615,1.82,585.0,2901,2110,1801,4094,58.1,12.2,91,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2110,1801,1801,4094,0,0,0,0,0,0,25.45,25.46,25.46,10.11,47.16
$GC,656,1.82,585.0,2901,2109,1800,4094,52.8,13.3,97,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2110,1800,1800,4094,0,0,0,0,0,0,25.67,25.67,25.67,10.11,47.24
$GC,697,1.82,585.0,2901,2110,1798,4094,47.4,13.2,103,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2109,1798,1798,4094,0,0,0,0,0,0,25.82,25.83,25.83,10.10,47.16
$GC,737,1.82,585.0,2901,2109,1797,4094,42.1,12.6,109,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2110,1797,1797,4094,0,0,0,0,0,0,25.94,25.95,25.94,10.10,47.95
$GC,778,1.82,585.0,2901,2109,1796,4094,37.0,12.8,115,785,0.00,0.95,0.00,0.000,516,0.000,0.044,2902,1742,1795,1795,4094,0,0,0,0,0,0,26.03,25.63,26.04,10.09,47.44
$GC,867,1.82,585.0,2901,1742,1793,4094,25.8,12.6,129,874,0.00,0.95,0.00,0.000,1030,0.000,0.030,2902,2130,1793,1793,4094,0,0,0,0,0,0,25.88,25.85,25.91,10.10,48.22
$GC,909,1.90,638.1,2901,2130,1791,4094,21.6,9.9,135,917,0.20,0.00,4.20,0.496,10246,0.047,0.000,2931,2130,1739,1739,4094,0,0,0,0,0,0,26.01,25.44,24.44,10.14,49.48
$GC,952,1.94,668.1,2931,2129,1738,4094,17.3,10.2,141,958,0.00,0.00,3.42,0.380,8198,0.000,0.000,2932,2130,1704,1704,4094,0,0,0,0,0,0,26.24,25.44,24.47,10.15,50.98
$GC,993,1.94,668.1,2931,2130,1703,4094,12.7,11.1,147,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2131,1703,1703,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.16,51.92
$GC,1034,1.94,668.1,2931,2130,1702,4094,8.0,11.6,153,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2131,1702,1702,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.17,52.48
$GC,1074,1.94,668.1,2931,2130,1701,4095,3.4,11.3,159,1080,0.00,1.00,0.00,0.000,516,0.000,0.042,2931,1746,1701,1701,4094,0,0,0,0,0,0,26.34,25.91,26.35,10.17,52.67
$STATE,1086,end climb,FINISH_DEPTH_REACHED
$STATE,1086,begin subsurface finish
$FINISH1,1.7,1.024156,101
$GC,1100,0.15,100.6,2931,2136,1700,4094,1.7,10.1,161,1119,5.55,1.10,-6.00,0.000,20996,0.022,1.234,2391,1739,2371,2371,4094,0,0,0,0,0,0,26.07,24.20,26.12,10.18,53.03
$FINISH2,0.1
$STATE,1120,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1120,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,310817,194908
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.74
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.66,59.757
$10V_AH,10.34,55.526
$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,24.300,9.300,74.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,422.475,255.304,149.577,238.621,116.783,0.000,326.890,0.000,247.018,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1251.540,1315.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,10766,164
$CAP_FILE_SIZE,27413,0
$CFSIZE,1024409600,918700032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,210733,6011.699,-17328.217,5,0.7,21,7.2,0.7,356.0,11,4.9