version: 66.13
glider: 401
mission: 22
dive: 2073
start: 9 1 117 6 23 12
data:
$ID,401
$MISSION,22
$DIVE,2073
$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,49
$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
$GPS1,010917,054155,6009.2017,-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,0.03
$_SM_ANGLEo,-1.4
$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,-585.0,2388,1964,2367,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,4097,0.022,0.000,1836,1964,2367,2367,4094,0,0,0,0,0,0,26.41,28.83,28.83,10.33,53.15
$GC,24,-1.82,-585.0,1835,1964,2367,4094,0.1,0.0,1,38,0.55,1.17,-7.05,0.000,20740,0.034,1.236,1773,2374,3171,3171,4094,0,0,0,0,0,0,26.12,24.20,26.15,10.33,53.58
$GC,115,-1.82,-585.0,1773,2374,3173,4094,11.8,-17.3,15,121,0.00,1.00,0.00,0.000,1030,0.000,0.029,1774,1980,3173,3173,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.51,53.15
$GC,156,-1.82,-585.0,1773,1980,3176,4094,18.9,-17.0,21,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1980,3175,3175,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.51,53.85
$GC,197,-1.82,-585.0,1773,1980,3176,4094,26.0,-18.1,27,203,0.00,1.17,0.00,0.000,516,0.000,0.048,1773,1517,3176,3176,4095,0,0,0,0,0,0,26.45,25.99,26.46,10.49,53.38
$GC,268,-1.82,-585.0,1773,1517,3177,4095,35.0,-11.6,38,275,0.00,1.02,0.00,0.000,1030,0.000,0.027,1774,1953,3177,3177,4095,0,0,0,0,0,0,26.21,26.18,26.24,10.44,52.12
$GC,309,-1.82,-585.0,1772,1953,3178,4095,39.7,-11.3,44,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1953,3179,3179,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.43,51.18
$GC,350,-1.82,-585.0,1773,1953,3179,4095,44.4,-11.5,50,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1953,3179,3179,4094,0,0,0,0,0,0,26.53,26.55,26.54,10.42,50.98
$GC,390,-1.82,-585.0,1773,1953,3180,4094,49.7,-13.5,56,397,0.00,1.10,0.00,0.000,260,0.000,0.046,1773,2372,3180,3180,4095,0,0,0,0,0,0,26.55,26.08,26.56,10.40,49.80
$GC,462,-1.82,-585.0,1773,2372,3182,4095,59.2,-13.0,67,468,0.00,1.08,0.00,0.000,1030,0.000,0.031,1774,1941,3182,3182,4094,0,0,0,0,0,0,26.24,26.20,26.27,10.40,49.33
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,487,-0.45,0.0,1773,2142,3183,4094,61.3,-13.1,69,529,4.45,0.00,33.67,1.337,10244,0.051,0.000,2187,2141,2484,2484,4095,0,0,0,0,0,0,26.14,25.16,24.04,10.40,49.29
$STATE,530,end apogee,CONTROL_FINISHED_OK
$STATE,530,begin climb
$GC,535,1.82,585.0,2186,2141,2484,4095,64.8,0.0,76,583,7.60,1.12,33.42,1.302,10500,0.028,0.052,2907,2559,1802,1802,4094,0,0,0,0,0,0,25.40,25.33,23.65,10.26,48.46
$GC,594,1.82,585.0,2906,2559,1802,4094,60.8,11.2,85,600,0.00,1.08,0.00,0.000,1030,0.000,0.025,2907,2140,1802,1802,4094,0,0,0,0,0,0,25.08,25.03,25.08,10.11,47.87
$GC,635,1.82,585.0,2906,2140,1800,4094,55.2,13.8,91,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2140,1800,1800,4094,0,0,0,0,0,0,25.55,25.56,25.56,10.10,47.44
$GC,676,1.82,585.0,2906,2140,1799,4094,49.4,14.0,97,682,0.00,1.10,0.00,0.000,516,0.000,0.046,2907,1718,1799,1799,4094,0,0,0,0,0,0,25.73,25.35,25.75,10.10,47.55
$GC,783,1.82,585.0,2906,1718,1795,4094,34.0,14.2,114,790,0.00,1.00,0.00,0.000,1030,0.000,0.030,2907,2122,1795,1795,4095,0,0,0,0,0,0,25.75,25.72,25.77,10.08,48.34
$GC,825,1.82,585.0,2906,2122,1794,4095,28.4,13.8,120,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2122,1794,1794,4094,0,0,0,0,0,0,26.11,26.13,26.12,10.08,48.93
$GC,865,1.82,585.0,2906,2122,1793,4094,22.9,13.1,126,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2122,1792,1792,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.09,48.97
$GC,906,1.82,585.0,2906,2122,1791,4094,18.1,11.2,132,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2122,1791,1791,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.11,49.52
$GC,947,1.95,673.5,2906,2122,1791,4094,14.2,9.4,138,960,0.35,1.02,5.97,0.579,10756,0.034,0.044,2947,1719,1697,1697,4094,0,0,0,0,0,0,26.04,25.20,24.58,10.14,50.70
$GC,1049,1.95,673.5,2947,1719,1694,4094,2.4,11.9,154,1055,0.00,1.00,0.00,0.000,1030,0.000,0.031,2947,2128,1694,1694,4094,0,0,0,0,0,0,26.01,25.98,26.04,10.15,53.07
$STATE,1060,end climb,SURFACE_DEPTH_REACHED
$STATE,1060,begin surface coast
$FINISH,0.0,1.022833
$STATE,1074,end surface coast,CONTROL_FINISHED_OK
$STATE,1074,begin surface
$SM_CCo,1182,0.00,0.000,0,0,1693,680.01
$SM_GC,0.77,28.25,0.45,0.00,0.020,0.044,0.000,237,1954,1693,-6.55,1.55,680.01,0,0,0,0,0,0,26.11,26.01,26.14
$IRIDIUM_FIX,5952.82,-17420.78,010917,042435
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.48
$INTERNAL_PRESSURE,10.1114
$TCM_TEMP,3.50
$XPDR_PINGS,0
$24V_AH,23.65,60.460
$10V_AH,10.34,56.042
$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,46.800,14.375,73.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,420.499,302.107,173.404,229.765,126.552,0.000,347.656,0.000,238.571,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,1236.240,1337.220,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.753,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,10829,158
$CAP_FILE_SIZE,30167,0
$CFSIZE,1024409600,917618688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,064417,6008.309,-17322.123,3,0.8,39,7.2,0.4,163.7,10,5.0