version: 66.13
glider: 401
mission: 22
dive: 2072
start: 9 1 117 6 2 48
data:
$ID,401
$MISSION,22
$DIVE,2072
$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,20
$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
$GPS1,010917,054155,6009.2017,-17322.3711,10,0.8,17,7.2,0.0,209.5,11,4.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.1
$GPS2,010917,054155,6009.2017,-17322.3711,10,0.8,17,7.2,0.0,209.5,11,4.5
$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,144.8,6590,-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,-585.0,2388,1947,2373,4092,0.0,0.0,0,21,6.40,0.00,-1.08,0.000,20482,0.023,0.000,1760,1947,2488,2488,4094,0,0,0,0,0,0,26.19,28.83,26.24,10.34,53.46
$GC,27,-1.82,-585.0,1759,1947,2488,4094,0.0,0.0,1,44,0.00,1.25,-6.55,0.000,16644,0.000,1.240,1759,2386,3172,3172,4094,0,0,0,0,0,0,26.46,24.20,26.48,10.37,53.89
$GC,207,-1.82,-585.0,1759,2387,3176,4094,25.4,-16.5,26,216,0.00,1.10,0.00,0.000,1030,0.000,0.030,1759,1946,3177,3177,4095,0,0,0,0,0,0,26.08,26.04,26.11,10.48,52.67
$GC,257,-1.82,-585.0,1759,1946,3178,4095,33.2,-14.1,32,266,0.00,1.08,0.00,0.000,516,0.000,0.051,1759,1522,3178,3178,4095,0,0,0,0,0,0,26.45,25.98,26.46,10.45,52.32
$GC,312,-1.82,-585.0,1759,1522,3179,4095,40.2,-12.1,39,321,0.00,1.02,0.00,0.000,1030,0.000,0.027,1759,1960,3180,3180,4095,0,0,0,0,0,0,26.21,26.17,26.22,10.42,50.70
$GC,360,-1.82,-585.0,1759,1960,3181,4095,46.4,-13.1,45,369,0.00,1.08,0.00,0.000,260,0.000,0.047,1759,2370,3180,3180,4094,0,0,0,0,0,0,26.51,26.05,26.51,10.42,49.80
$STATE,456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,456,begin apogee
$GC,468,-0.45,0.0,1759,2115,3183,4094,60.0,-13.6,59,512,4.57,0.00,33.83,1.336,10244,0.052,0.000,2185,2113,2484,2484,4094,0,0,0,0,0,0,26.10,25.14,24.04,10.41,48.93
$STATE,513,end apogee,CONTROL_FINISHED_OK
$STATE,513,begin climb
$GC,519,1.82,585.0,2184,2112,2484,4094,63.9,0.0,64,563,7.70,0.00,33.53,1.295,11270,0.029,0.000,2903,2113,1802,1802,4095,0,0,0,0,0,0,25.48,25.65,23.65,10.26,48.42
$GC,604,1.82,585.0,2903,2112,1801,4095,57.6,12.3,74,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.11,47.79
$GC,653,1.82,585.0,2903,2112,1800,4094,51.2,13.1,80,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2112,1799,1799,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.10,47.24
$GC,702,1.82,585.0,2903,2112,1798,4094,44.8,12.9,86,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1798,1798,4094,0,0,0,0,0,0,25.88,25.89,25.89,10.10,47.63
$GC,751,1.82,585.0,2903,2112,1796,4094,38.5,13.1,92,760,0.00,0.98,0.00,0.000,516,0.000,0.045,2904,1736,1796,1796,4094,0,0,0,0,0,0,26.01,25.60,26.01,10.09,47.51
$GC,900,1.82,590.4,2903,1736,1792,4094,20.4,10.5,113,908,0.00,0.95,0.00,0.000,1030,0.000,0.029,2904,2128,1792,1792,4094,0,0,0,0,0,0,25.94,25.94,25.98,10.12,48.62
$GC,949,1.88,631.0,2903,2128,1791,4094,15.7,10.0,119,959,0.15,0.00,3.78,0.422,10246,0.055,0.000,2929,2129,1747,1747,4094,0,0,0,0,0,0,26.09,25.10,24.48,10.16,50.63
$GC,1000,1.88,631.0,2928,2128,1746,4094,10.0,11.5,125,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2129,1746,1746,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.16,52.04
$GC,1049,1.88,631.0,2928,2128,1745,4094,4.4,11.4,131,1058,0.00,1.02,0.00,0.000,516,0.000,0.044,2929,1736,1744,1744,4094,0,0,0,0,0,0,26.35,25.92,26.37,10.17,52.48
$STATE,1066,end climb,FINISH_DEPTH_REACHED
$STATE,1066,begin subsurface finish
$FINISH1,1.7,1.024154,101
$GC,1080,0.15,100.8,2929,2136,1744,4094,1.7,10.8,133,1099,5.53,1.10,-5.68,0.000,20996,0.022,1.239,2388,1734,2367,2367,4094,0,0,0,0,0,0,26.11,24.22,26.15,10.18,53.26
$FINISH2,0.1
$STATE,1100,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1100,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,042435
$TT8_MAMPS,0.026215,0.244923
$HUMID,53.15
$INTERNAL_PRESSURE,10.2383
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.65,60.433
$10V_AH,10.11,56.031
$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,24.350,11.675,71.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,385.391,0.000,111.575,559.953,106.449,0.000,325.288,0.000,329.288,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1240.065,1336.455,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,91.798,366.768,290.396,430.289,558.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,14393,135
$CAP_FILE_SIZE,24099,0
$CFSIZE,1024409600,917667840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,054155,6009.202,-17322.371,10,0.8,17,7.2,0.0,209.5,11,4.5