version: 66.13
glider: 401
mission: 22
dive: 2068
start: 9 1 117 4 30 43
data:
$ID,401
$MISSION,22
$DIVE,2068
$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,25
$R_STBD_OVSHOOT,59
$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
$GPS1,010917,042026,6010.2549,-17323.1035,3,0.8,33,7.2,0.5,101.3,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-38.4
$GPS2,010917,043004,6010.1875,-17322.9902,9,0.8,28,7.2,0.3,177.9,11,4.7
$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,147.2,8477,-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,6,begin dive
$GC,11,-1.82,-585.0,235,1949,1668,4092,0.0,0.0,0,21,7.55,0.00,0.00,0.000,2049,0.086,0.000,880,1950,1668,1668,4094,0,0,0,0,0,0,26.28,28.83,28.83,10.23,52.24
$GC,27,-1.82,-585.0,880,1949,1668,4094,0.6,0.0,1,55,9.35,1.15,-14.15,0.000,18692,0.042,1.234,1754,2344,3171,3171,4094,0,0,0,0,0,0,25.98,24.03,25.98,10.24,52.40
$GC,313,-1.82,-585.0,1753,2345,3179,4094,36.3,-12.4,42,323,0.00,1.00,0.00,0.000,1030,0.000,0.029,1754,1944,3179,3179,4094,0,0,0,0,0,0,26.14,26.10,26.20,10.48,50.47
$GC,362,-1.82,-585.0,1753,1944,3179,4094,42.6,-12.9,48,371,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1944,3180,3180,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.46,48.81
$GC,410,-1.82,-585.0,1754,1944,3181,4094,49.2,-14.1,54,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1944,3181,3181,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.45,47.87
$GC,458,-1.82,-585.0,1753,1944,3182,4095,56.0,-14.2,60,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1944,3183,3183,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.44,47.16
$STATE,486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,486,begin apogee
$GC,498,-0.45,0.0,1754,2117,3183,4095,60.7,-13.9,64,542,4.65,0.00,33.65,1.324,10244,0.053,0.000,2186,2117,2484,2484,4095,0,0,0,0,0,0,26.10,25.14,24.02,10.43,46.92
$STATE,543,end apogee,CONTROL_FINISHED_OK
$STATE,543,begin climb
$GC,548,1.82,585.0,2185,2117,2484,4095,64.8,0.0,69,593,7.68,0.00,33.55,1.291,11270,0.029,0.000,2904,2117,1802,1802,4094,0,0,0,0,0,0,25.49,25.66,23.64,10.29,46.49
$GC,634,1.82,585.0,2903,2117,1801,4094,57.9,12.8,79,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2117,1800,1800,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.14,45.35
$GC,683,1.82,585.0,2903,2117,1799,4094,51.2,13.5,85,692,0.00,1.08,0.00,0.000,516,0.000,0.043,2904,1716,1799,1799,4095,0,0,0,0,0,0,25.72,25.34,25.74,10.13,45.62
$GC,765,1.82,585.0,2903,1716,1795,4095,40.4,13.1,96,774,0.00,0.98,0.00,0.000,1030,0.000,0.029,2904,2112,1796,1796,4094,0,0,0,0,0,0,25.70,25.67,25.72,10.11,46.37
$GC,815,1.82,585.0,2903,2112,1795,4094,33.8,13.6,102,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2112,1794,1794,4094,0,0,0,0,0,0,26.08,26.10,26.09,10.11,46.81
$GC,864,1.82,585.0,2904,2112,1793,4094,27.2,13.5,108,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2112,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.12,46.96
$GC,913,1.82,585.0,2903,2112,1791,4094,20.8,12.9,114,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2112,1791,1791,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.14,47.75
$GC,963,1.88,626.5,2903,2112,1790,4094,15.4,10.0,120,973,0.10,0.00,3.53,0.384,10246,0.074,0.000,2925,2112,1752,1752,4095,0,0,0,0,0,0,26.08,25.08,24.46,10.17,49.64
$GC,1013,1.88,626.5,2924,2112,1751,4095,9.8,11.3,126,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2112,1751,1751,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.18,51.33
$GC,1063,1.88,626.5,2924,2112,1749,4094,4.2,11.0,132,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2112,1749,1749,4094,0,0,0,0,0,0,26.36,26.36,26.36,10.19,51.22
$STATE,1079,end climb,FINISH_DEPTH_REACHED
$STATE,1079,begin subsurface finish
$FINISH1,1.9,1.024145,101
$GC,1092,0.15,101.4,2925,2112,1748,4094,1.9,10.1,134,1109,5.47,0.00,-5.55,0.000,20486,0.021,0.000,2389,2112,2369,2369,4094,0,0,0,0,0,0,26.10,25.41,26.15,10.20,51.49
$FINISH2,0.2
$STATE,1110,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1110,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,031219
$TT8_MAMPS,0.026215,0.249417
$HUMID,52.52
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.64,60.309
$10V_AH,10.07,55.941
$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,34.800,4.725,70.725,0.000,0.000,25.419,17.746,256.641,0.000,0.000,30.158,389.595,0.157,119.190,838.089,348.506,0.000,348.286,0.000,333.414,0.000,0.544,0.000
$DEVICE_MAMPS,85.680,1233.945,1324.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.281,369.520,292.415,433.664,562.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329276
$DATA_FILE_SIZE,14365,136
$CAP_FILE_SIZE,28182,0
$CFSIZE,1024409600,917864448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010917,043004,6010.188,-17322.990,9,0.8,28,7.2,0.3,177.9,11,4.7