version: 66.13
glider: 401
mission: 22
dive: 2091
start: 9 1 117 13 54 17
data:
$ID,401
$MISSION,22
$DIVE,2091
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,010917,131302,6006.6177,-17319.9082,10,0.9,21,7.2,0.0,303.1,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.2
$GPS2,010917,131302,6006.6177,-17319.9082,10,0.9,21,7.2,0.0,303.1,10,4.9
$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,134.3,1319,-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,-585.0,2400,1946,2373,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.023,0.000,1853,1947,2372,2372,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.34,53.42
$GC,24,-1.82,-585.0,1852,1946,2373,4094,0.2,0.0,1,38,0.73,1.25,-7.62,0.000,20740,0.028,1.232,1772,2376,3170,3170,4094,0,0,0,0,0,0,26.13,24.20,26.15,10.34,53.46
$GC,177,-1.82,-585.0,1771,2376,3174,4094,20.5,-17.3,25,183,0.00,1.05,0.00,0.000,1030,0.000,0.030,1771,1956,3175,3175,4094,0,0,0,0,0,0,26.13,26.09,26.16,10.52,53.22
$GC,218,-1.82,-585.0,1771,1956,3175,4094,26.5,-14.8,31,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3175,3175,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.49,52.79
$GC,259,-1.82,-585.0,1771,1955,3176,4094,32.0,-13.4,37,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3176,3176,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.46,52.12
$GC,299,-1.82,-585.0,1771,1956,3177,4094,37.3,-12.9,43,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1955,3178,3178,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,51.53
$GC,340,-1.82,-585.0,1771,1955,3178,4095,42.5,-12.8,49,346,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3178,3178,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.43,50.66
$GC,381,-1.82,-585.0,1771,1955,3178,4095,47.8,-12.8,55,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3180,3180,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,49.96
$GC,421,-1.82,-585.0,1771,1955,3180,4095,53.0,-13.1,61,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3180,3180,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.41,49.68
$GC,462,-1.82,-585.0,1771,1955,3181,4095,58.2,-12.3,67,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1956,3181,3181,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.41,49.21
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,485,-0.45,0.0,1772,2145,3182,4095,60.2,-12.6,69,526,4.43,0.00,33.53,1.310,10244,0.050,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.15,25.18,24.09,10.40,49.05
$STATE,527,end apogee,CONTROL_FINISHED_OK
$STATE,527,begin climb
$GC,533,1.82,585.0,2186,2144,2484,4094,63.3,0.0,76,580,7.62,0.00,33.28,1.278,11270,0.030,0.000,2902,2145,1803,1803,4094,0,0,0,0,0,0,25.51,25.67,23.68,10.26,48.07
$GC,615,1.82,585.0,2902,2144,1802,4094,56.0,13.1,89,622,0.00,1.15,0.00,0.000,516,0.000,0.043,2902,1717,1802,1802,4094,0,0,0,0,0,0,25.48,25.14,25.48,10.11,47.63
$GC,699,1.82,585.0,2902,1717,1799,4094,44.6,13.2,102,705,0.00,1.02,0.00,0.000,1030,0.000,0.029,2902,2127,1799,1799,4094,0,0,0,0,0,0,25.56,25.53,25.60,10.10,47.79
$GC,740,1.82,585.0,2902,2127,1798,4094,39.0,13.8,108,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1797,1797,4094,0,0,0,0,0,0,25.96,25.98,25.97,10.09,48.22
$GC,781,1.82,585.0,2902,2127,1796,4094,33.4,13.6,114,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1796,1796,4094,0,0,0,0,0,0,26.06,26.07,26.06,10.09,48.66
$GC,822,1.82,585.0,2902,2127,1795,4094,27.9,13.3,120,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1795,1795,4094,0,0,0,0,0,0,26.13,26.14,26.14,10.09,48.26
$GC,862,1.82,585.0,2902,2127,1794,4094,22.5,13.4,126,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1794,1794,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.10,48.70
$GC,903,1.82,585.0,2902,2127,1793,4094,17.5,11.9,132,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1793,1793,4094,0,0,0,0,0,0,26.24,26.26,26.25,10.14,50.27
$GC,943,1.82,585.0,2902,2127,1791,4094,13.0,11.0,138,950,0.00,1.10,0.00,0.000,516,0.000,0.047,2902,1712,1791,1791,4094,0,0,0,0,0,0,26.29,25.84,26.30,10.16,51.73
$GC,1039,1.82,585.0,2902,1711,1789,4094,2.6,10.6,153,1045,0.00,1.00,0.00,0.000,1030,0.000,0.029,2902,2124,1788,1788,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.18,52.95
$STATE,1050,end climb,SURFACE_DEPTH_REACHED
$STATE,1050,begin surface coast
$FINISH,0.0,1.012615
$STATE,1070,end surface coast,CONTROL_FINISHED_OK
$STATE,1070,begin surface
$SM_CCo,1178,0.00,0.000,0,0,1787,598.44
$SM_GC,0.77,27.85,0.45,0.00,0.019,0.042,0.000,230,1952,1787,-6.59,1.32,598.44,0,0,0,0,0,0,26.01,26.07,26.08
$IRIDIUM_FIX,5952.82,-17420.78,010917,115455
$TT8_MAMPS,0.025466,0.10486
$HUMID,53.70
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.68,61.048
$10V_AH,10.33,56.473
$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,46.225,7.950,66.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,414.942,303.485,168.331,230.086,131.874,0.000,341.789,0.000,238.564,0.000,0.542,0.000
$DEVICE_MAMPS,50.490,1232.415,1310.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,10780,158
$CAP_FILE_SIZE,28311,0
$CFSIZE,1024409600,916733952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,141501,6006.179,-17319.322,3,0.7,22,7.2,0.3,122.0,11,4.9