version: 66.13
glider: 401
mission: 22
dive: 2102
start: 9 1 117 18 24 20
data:
$ID,401
$MISSION,22
$DIVE,2102
$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,27
$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
$GPS1,010917,180402,6005.7754,-17316.3906,6,1.2,33,7.2,0.3,82.6,9,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.9
$GPS2,010917,180402,6005.7754,-17316.3906,6,1.2,33,7.2,0.3,82.6,9,5.0
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,102.0,107972,-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,-585.0,2385,1948,2374,4092,0.0,0.0,0,22,6.38,0.00,-2.03,0.000,20482,0.021,0.000,1760,1948,2585,2585,4095,0,0,0,0,0,0,26.10,28.83,26.15,10.33,53.30
$GC,28,-1.82,-585.0,1759,1948,2585,4095,0.0,0.0,1,36,0.00,0.00,-5.20,0.000,16390,0.000,0.000,1760,1948,3171,3171,4095,0,0,0,0,0,0,26.37,24.45,26.39,10.38,52.83
$GC,75,-1.82,-585.0,1759,1948,3171,4095,4.9,-13.8,7,84,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1948,3171,3171,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.51,52.91
$GC,123,-1.82,-585.0,1759,1948,3173,4094,13.5,-18.7,13,132,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1948,3173,3173,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.51,52.55
$GC,171,-1.82,-585.0,1759,1948,3175,4095,22.6,-19.7,19,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1948,3175,3175,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.50,52.48
$GC,218,-1.82,-585.0,1759,1948,3176,4095,29.7,-13.9,25,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1949,3176,3176,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.46,51.69
$GC,266,-1.82,-585.0,1759,1948,3177,4094,36.2,-13.4,31,275,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1948,3177,3177,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.44,50.74
$GC,314,-1.82,-585.0,1759,1948,3178,4094,42.7,-13.6,37,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1948,3179,3179,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.43,50.39
$GC,362,-1.82,-585.0,1759,1948,3180,4095,49.2,-13.8,43,370,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1948,3180,3180,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.41,49.37
$GC,409,-1.82,-585.0,1759,1948,3181,4095,55.8,-14.2,49,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1948,3181,3181,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.40,48.81
$STATE,438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,438,begin apogee
$GC,450,-0.45,0.0,1759,2144,3182,4095,60.7,-14.1,53,494,4.57,0.00,33.72,1.324,10246,0.051,0.000,2185,2144,2484,2484,4095,0,0,0,0,0,0,26.13,25.15,24.04,10.40,48.62
$STATE,495,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,501,1.82,585.0,2185,2144,2484,4095,64.5,0.0,58,546,7.68,0.00,33.42,1.295,10246,0.029,0.000,2904,2144,1802,1802,4094,0,0,0,0,0,0,25.49,24.64,23.64,10.26,47.87
$GC,587,1.91,649.4,2903,2144,1801,4094,58.5,9.7,68,597,0.25,0.00,5.30,0.828,10246,0.040,0.000,2937,2144,1727,1727,4094,0,0,0,0,0,0,25.27,24.86,23.77,10.10,47.08
$GC,638,1.91,649.4,2936,2143,1726,4094,52.6,11.8,74,647,0.00,1.17,0.00,0.000,516,0.000,0.044,2937,1711,1725,1725,4094,0,0,0,0,0,0,25.66,25.29,25.67,10.08,47.40
$GC,758,1.91,649.4,2936,1710,1721,4094,35.9,14.0,91,767,0.00,1.05,0.00,0.000,1030,0.000,0.031,2937,2132,1721,1721,4094,0,0,0,0,0,0,25.73,25.70,25.75,10.07,47.79
$GC,807,1.91,649.4,2936,2132,1720,4094,28.8,14.7,97,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2132,1720,1720,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.08,47.63
$GC,855,1.91,649.4,2936,2132,1719,4094,22.0,14.0,103,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2132,1718,1718,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.09,48.18
$GC,903,1.91,649.4,2936,2132,1717,4094,16.3,11.3,109,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2132,1717,1717,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.13,49.48
$GC,951,1.91,649.4,2936,2132,1716,4094,10.7,11.9,115,960,0.00,1.12,0.00,0.000,516,0.000,0.044,2937,1707,1715,1715,4094,0,0,0,0,0,0,26.30,25.85,26.32,10.14,51.33
$STATE,1022,end climb,FINISH_DEPTH_REACHED
$STATE,1022,begin subsurface finish
$FINISH1,1.8,1.024197,98
$GC,1036,0.15,97.7,2937,2149,1713,4094,1.8,11.8,125,1055,5.62,0.00,-6.12,0.000,20486,0.021,0.000,2387,2149,2374,2374,4094,0,0,0,0,0,0,26.08,25.41,26.13,10.16,52.24
$FINISH2,0.1
$STATE,1056,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1056,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,164611
$TT8_MAMPS,0.025466,0.250166
$HUMID,52.59
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.64,61.408
$10V_AH,10.07,56.741
$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,24.500,5.475,72.450,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,354.454,0.000,118.513,530.624,115.598,0.000,341.861,0.000,312.236,0.000,0.544,0.000
$DEVICE_MAMPS,51.255,44.370,1324.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.979,345.007,273.112,404.812,527.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,10887,127
$CAP_FILE_SIZE,24096,0
$CFSIZE,1024409600,916193280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,180402,6005.775,-17316.391,6,1.2,33,7.2,0.3,82.6,9,5.0