version: 66.13
glider: 401
mission: 22
dive: 2066
start: 9 1 117 3 38 49
data:
$ID,401
$MISSION,22
$DIVE,2066
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,010917,031802,6010.9932,-17324.1523,9,1.0,16,7.2,0.6,57.4,9,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-0.8
$GPS2,010917,031802,6010.9932,-17324.1523,9,1.0,16,7.2,0.6,57.4,9,5.0
$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,145.4,10292,-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,-585.0,2391,1937,2370,4092,0.0,0.0,0,29,6.43,0.00,-7.68,0.000,20486,0.022,0.000,1761,1938,3171,3171,4095,0,0,0,0,0,0,26.17,24.33,26.22,10.35,53.22
$GC,35,-1.82,-585.0,1761,1937,3171,4095,0.0,-0.8,2,44,0.00,1.15,0.00,0.000,260,0.000,0.037,1761,2377,3171,3171,4094,0,0,0,0,0,0,26.41,26.04,26.41,10.53,53.58
$GC,304,-1.82,-585.0,1761,2377,3178,4094,39.4,-12.0,41,313,0.00,1.05,0.00,0.000,1030,0.000,0.030,1761,1956,3179,3179,4094,0,0,0,0,0,0,26.24,26.20,26.27,10.45,51.10
$GC,353,-1.82,-585.0,1760,1955,3180,4094,45.4,-12.2,47,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3180,3180,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.44,49.88
$GC,401,-1.82,-585.0,1760,1955,3180,4095,51.7,-13.5,53,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3181,3181,4094,0,0,0,0,0,0,26.60,26.62,26.62,10.43,49.21
$GC,449,-1.82,-585.0,1760,1955,3182,4094,58.4,-14.0,59,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1955,3182,3182,4095,0,0,0,0,0,0,26.62,26.64,26.63,10.42,48.81
$STATE,465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,477,-0.45,0.0,1761,2144,3183,4095,61.4,-14.0,61,522,4.57,0.00,33.75,1.340,10244,0.051,0.000,2187,2144,2483,2483,4095,0,0,0,0,0,0,26.17,24.87,24.08,10.42,48.46
$STATE,523,end apogee,CONTROL_FINISHED_OK
$STATE,523,begin climb
$GC,529,1.82,585.0,2187,2144,2483,4095,65.5,0.0,66,574,7.62,1.12,33.22,1.300,10500,0.028,0.051,2905,2563,1802,1802,4094,0,0,0,0,0,0,25.44,25.36,23.67,10.27,47.40
$GC,816,1.82,585.0,2905,2562,1794,4094,31.2,12.9,106,825,0.00,1.08,0.00,0.000,1030,0.000,0.026,2906,2130,1794,1794,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.09,47.71
$GC,866,1.82,585.0,2905,2130,1793,4094,24.6,13.1,112,874,0.00,1.17,0.00,0.000,260,0.000,0.051,2906,2555,1793,1793,4094,0,0,0,0,0,0,26.20,25.74,26.21,10.12,48.22
$GC,972,1.82,585.0,2905,2554,1790,4094,13.2,11.1,127,982,0.00,1.12,0.00,0.000,1030,0.000,0.028,2905,2103,1789,1789,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.18,51.29
$GC,1021,1.82,585.0,2905,2103,1788,4094,7.6,11.5,133,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2103,1788,1788,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.19,51.61
$GC,1069,1.83,596.8,2905,2102,1787,4094,2.4,10.4,139,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2103,1786,1786,4094,0,0,0,0,0,0,26.40,26.42,26.41,10.19,52.63
$STATE,1085,end climb,FINISH_DEPTH_REACHED
$STATE,1085,begin subsurface finish
$FINISH1,0.4,1.024141,102
$GC,1098,0.15,101.6,2905,2099,1786,4095,0.4,9.8,141,1116,5.28,0.00,-5.30,0.000,20486,0.023,0.000,2389,2096,2368,2368,4094,0,0,0,0,0,0,26.13,25.44,26.18,10.20,52.40
$FINISH2,0.1
$STATE,1117,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1118,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,010917,020109
$TT8_MAMPS,0.025466,0.259154
$HUMID,52.67
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.67,60.240
$10V_AH,10.10,55.891
$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,23.900,7.625,66.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.219,0.000,98.456,599.335,96.843,0.000,307.921,0.000,350.008,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,51.255,1339.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.684,388.496,307.484,456.058,597.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,14440,143
$CAP_FILE_SIZE,20789,0
$CFSIZE,1024409600,917962752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,031802,6010.993,-17324.152,9,1.0,16,7.2,0.6,57.4,9,5.0