version: 66.13
glider: 401
mission: 22
dive: 2161
start: 9 2 117 18 24 12
data:
$ID,401
$MISSION,22
$DIVE,2161
$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,52
$R_STBD_OVSHOOT,56
$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
$GPS1,020917,181139,6006.2529,-17257.7090,4,0.9,32,7.4,0.3,223.0,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-38.1
$GPS2,020917,182328,6006.2607,-17257.9141,7,0.9,19,7.4,0.0,0.0,9,4.6
$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,105.8,92230,-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,-585.0,230,1989,1786,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.100,0.000,696,1983,1786,1786,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.28,51.14
$GC,24,-1.82,-585.0,695,1983,1786,4094,0.7,0.0,1,55,11.38,1.25,-12.93,0.000,18948,0.044,1.232,1752,1543,3170,3170,4095,0,0,0,0,0,0,25.89,23.99,25.98,10.28,50.98
$GC,219,-1.82,-585.0,1751,1542,3175,4095,26.2,-14.9,32,226,0.00,0.90,0.00,0.000,1030,0.000,0.027,1752,1932,3175,3175,4094,0,0,0,0,0,0,26.15,26.12,26.17,10.56,51.06
$GC,261,-1.82,-585.0,1751,1932,3176,4094,32.3,-14.5,38,267,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1933,3176,3176,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.55,50.39
$GC,301,-1.82,-585.0,1752,1932,3177,4094,38.2,-15.0,44,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1932,3177,3177,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.53,49.96
$GC,342,-1.82,-585.0,1751,1932,3178,4095,44.2,-15.0,50,349,0.00,1.15,0.00,0.000,260,0.000,0.045,1752,2371,3178,3178,4095,0,0,0,0,0,0,26.50,26.03,26.51,10.52,49.48
$GC,432,-1.82,-585.0,1751,2370,3181,4095,58.0,-15.3,64,438,0.00,1.00,0.00,0.000,1030,0.000,0.028,1752,1971,3181,3181,4094,0,0,0,0,0,0,26.25,26.22,26.27,10.50,48.93
$STATE,443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,443,begin apogee
$GC,456,-0.45,0.0,1752,2138,3181,4094,60.3,-14.7,66,497,4.53,0.00,33.47,1.304,10244,0.031,0.000,2189,2138,2484,2484,4094,0,0,0,0,0,0,26.21,25.16,24.06,10.49,48.34
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,504,1.82,585.0,2189,2137,2484,4094,62.0,0.0,73,551,7.60,0.00,33.35,1.255,11270,0.028,0.000,2903,2138,1801,1801,4094,0,0,0,0,0,0,25.52,25.68,23.70,10.34,48.07
$GC,586,1.82,585.0,2903,2137,1800,4094,55.3,12.4,86,593,0.00,1.15,0.00,0.000,516,0.000,0.042,2904,1711,1800,1800,4094,0,0,0,0,0,0,25.52,25.18,25.53,10.19,46.49
$GC,682,1.82,585.0,2903,1710,1797,4094,43.2,12.5,101,688,0.00,1.00,0.00,0.000,1030,0.000,0.028,2904,2118,1797,1797,4094,0,0,0,0,0,0,25.67,25.64,25.70,10.19,46.96
$GC,723,1.82,585.0,2903,2118,1796,4094,38.2,12.3,107,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1796,1796,4094,0,0,0,0,0,0,26.06,26.06,26.06,10.18,47.48
$GC,764,1.82,585.0,2903,2118,1795,4094,33.3,12.0,113,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1795,1795,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.19,47.63
$GC,805,1.82,585.0,2903,2118,1794,4094,28.5,11.6,119,811,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1794,1794,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.19,47.95
$GC,846,1.82,585.0,2903,2118,1792,4094,23.6,12.0,125,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1792,1792,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.20,48.77
$GC,886,1.82,585.0,2903,2118,1791,4094,18.5,12.1,131,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2118,1791,1791,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.21,49.25
$GC,927,1.82,585.0,2903,2118,1789,4094,13.7,12.0,137,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2118,1789,1789,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.23,51.10
$GC,968,1.82,585.0,2902,2118,1788,4094,8.8,11.9,143,974,0.00,1.08,0.00,0.000,516,0.000,0.044,2903,1708,1788,1788,4094,0,0,0,0,0,0,26.39,25.95,26.40,10.23,51.06
$STATE,1028,end climb,FINISH_DEPTH_REACHED
$STATE,1028,begin subsurface finish
$FINISH1,1.8,1.024147,101
$GC,1042,0.15,101.3,2903,2140,1786,4094,1.8,10.9,153,1056,5.30,0.00,-5.20,0.000,20486,0.028,0.000,2387,2148,2371,2371,4094,0,0,0,0,0,0,26.18,24.45,26.22,10.24,51.61
$FINISH2,0.1
$STATE,1057,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1057,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,020917,181601
$TT8_MAMPS,0.025466,0.133322
$HUMID,51.89
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,23.70,63.290
$10V_AH,10.30,58.114
$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,34.400,9.000,66.825,0.000,0.000,52.884,41.859,279.365,0.000,0.000,20.440,403.075,282.918,150.409,561.420,378.302,0.000,325.197,0.000,235.930,0.000,0.544,0.000
$DEVICE_MAMPS,100.215,1232.415,1303.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,10842,155
$CAP_FILE_SIZE,30448,0
$CFSIZE,1024409600,913293312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020917,182328,6006.261,-17257.914,7,0.9,19,7.4,0.0,0.0,9,4.6