version: 66.13
glider: 401
mission: 22
dive: 2105
start: 9 1 117 19 39 23
data:
$ID,401
$MISSION,22
$DIVE,2105
$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,30
$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
$GPS1,010917,191754,6005.7729,-17315.9727,7,0.8,26,7.3,0.4,261.8,10,5.0
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-1.2
$GPS2,010917,191754,6005.7729,-17315.9727,7,0.8,26,7.3,0.4,261.8,10,5.0
$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,101.9,107602,-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,-585.0,2387,1973,2373,4092,0.0,0.0,0,29,6.30,0.00,-7.75,0.000,20486,0.025,0.000,1778,1974,3172,3172,4094,0,0,0,0,0,0,26.10,24.33,26.10,10.34,52.04
$GC,35,-1.82,-585.0,1777,1973,3171,4094,-0.0,-0.2,3,42,0.00,1.08,0.00,0.000,260,0.000,0.042,1778,2375,3171,3171,4095,0,0,0,0,0,0,26.34,25.95,26.34,10.51,52.59
$GC,76,-1.82,-585.0,1777,2375,3173,4095,4.8,-12.4,9,83,0.00,1.05,0.00,0.000,1030,0.000,0.031,1778,1958,3173,3173,4095,0,0,0,0,0,0,26.06,26.03,26.09,10.52,52.28
$GC,118,-1.82,-585.0,1777,1957,3173,4095,11.3,-16.1,15,124,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1957,3174,3174,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.52,52.48
$GC,158,-1.82,-585.0,1777,1957,3175,4094,18.0,-16.2,21,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1957,3174,3174,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.53,52.32
$GC,199,-1.82,-585.0,1777,1957,3175,4095,23.0,-9.5,27,206,0.00,1.12,0.00,0.000,516,0.000,0.054,1778,1520,3177,3177,4095,0,0,0,0,0,0,26.46,25.96,26.48,10.51,51.85
$GC,253,-1.82,-585.0,1777,1520,3177,4095,28.7,-11.6,35,259,0.00,1.02,0.00,0.000,1030,0.000,0.025,1778,1972,3177,3177,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.47,52.24
$GC,294,-1.82,-585.0,1777,1976,3178,4095,33.3,-11.2,41,301,0.00,1.00,0.00,0.000,260,0.000,0.044,1778,2357,3178,3178,4095,0,0,0,0,0,0,26.51,26.08,26.53,10.45,50.74
$GC,360,-1.82,-585.0,1777,2356,3179,4095,41.3,-12.5,51,366,0.00,1.02,0.00,0.000,1030,0.000,0.031,1777,1945,3179,3179,4095,0,0,0,0,0,0,26.20,26.17,26.24,10.43,49.56
$GC,401,-1.82,-585.0,1777,1945,3180,4095,46.4,-12.7,57,407,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1945,3180,3180,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.42,49.33
$GC,442,-1.82,-585.0,1776,1945,3181,4095,51.4,-12.4,63,448,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,1946,3181,3181,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.42,48.89
$GC,482,-1.82,-585.0,1777,1945,3182,4095,56.7,-12.9,69,488,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1945,3182,3182,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.41,48.89
$STATE,506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,506,begin apogee
$GC,518,-0.45,0.0,1777,2124,3183,4095,60.4,-13.0,73,560,4.35,0.00,33.53,1.317,10244,0.050,0.000,2186,2124,2483,2483,4095,0,0,0,0,0,0,26.16,25.18,24.07,10.41,48.62
$STATE,561,end apogee,CONTROL_FINISHED_OK
$STATE,561,begin climb
$GC,566,1.82,585.0,2186,2124,2484,4095,63.6,0.0,80,614,7.62,0.00,33.25,1.287,11270,0.029,0.000,2903,2124,1802,1802,4094,0,0,0,0,0,0,25.51,25.68,23.65,10.26,47.91
$GC,649,1.82,585.0,2902,2123,1801,4094,56.8,12.8,93,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1801,1801,4094,0,0,0,0,0,0,25.46,25.48,25.48,10.11,47.48
$GC,689,1.82,585.0,2902,2124,1800,4094,51.3,13.2,99,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2124,1800,1800,4094,0,0,0,0,0,0,25.68,25.69,25.69,10.10,47.36
$GC,730,1.82,585.0,2902,2124,1798,4094,45.8,13.7,105,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2124,1798,1798,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.10,47.48
$GC,771,1.82,585.0,2902,2124,1797,4094,40.3,13.5,111,777,0.00,1.10,0.00,0.000,516,0.000,0.044,2903,1712,1797,1797,4094,0,0,0,0,0,0,25.95,25.54,25.96,10.10,47.32
$GC,860,1.82,585.0,2902,1712,1794,4094,28.4,13.0,125,867,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2129,1794,1794,4094,0,0,0,0,0,0,25.83,25.80,25.86,10.09,48.03
$GC,902,1.82,585.0,2902,2128,1793,4094,23.1,12.7,131,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1794,1794,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.10,48.58
$GC,942,1.82,585.0,2902,2128,1791,4094,18.5,11.2,137,949,0.00,1.10,0.00,0.000,516,0.000,0.045,2903,1713,1791,1791,4094,0,0,0,0,0,0,26.25,25.80,26.25,10.13,49.92
$GC,1037,1.82,585.0,2902,1713,1789,4094,8.3,10.7,152,1044,0.00,0.98,0.00,0.000,1030,0.000,0.029,2903,2115,1789,1789,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.17,52.24
$GC,1079,1.82,585.0,2902,2114,1787,4094,3.9,10.7,158,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,1787,1787,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.18,52.79
$STATE,1096,end climb,FINISH_DEPTH_REACHED
$STATE,1096,begin subsurface finish
$FINISH1,1.4,1.024192,98
$GC,1109,0.15,98.1,2903,2115,1788,4094,1.4,10.9,161,1123,5.25,0.00,-5.38,0.000,20486,0.023,0.000,2390,2115,2374,2374,4094,0,0,0,0,0,0,26.10,24.40,26.15,10.18,53.38
$FINISH2,0.0
$STATE,1124,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1124,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,175757
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.38
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.65,61.504
$10V_AH,10.33,56.803
$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,23.525,11.375,66.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,419.677,243.566,158.024,237.323,128.662,0.000,341.858,0.000,245.586,0.000,0.543,0.000
$DEVICE_MAMPS,49.725,54.315,1317.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,108.676,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10864,163
$CAP_FILE_SIZE,29244,0
$CFSIZE,1024409600,916045824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,191754,6005.773,-17315.973,7,0.8,26,7.3,0.4,261.8,10,5.0