version: 66.13
glider: 401
mission: 22
dive: 2075
start: 9 1 117 7 17 30
data:
$ID,401
$MISSION,22
$DIVE,2075
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,010917,065523,6008.2134,-17322.1680,10,0.7,14,7.2,0.0,204.3,11,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-0.9
$GPS2,010917,065523,6008.2134,-17322.1680,10,0.7,14,7.2,0.0,204.3,11,4.7
$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,136.7,4935,-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,-585.0,2389,1950,2372,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.022,0.000,1837,1950,2372,2372,4094,0,0,0,0,0,0,26.42,28.83,28.83,10.34,52.44
$GC,24,-1.82,-585.0,1836,1946,2372,4094,0.1,0.0,1,38,0.55,1.25,-7.60,0.000,20740,0.031,1.239,1773,2377,3171,3171,4094,0,0,0,0,0,0,26.14,24.20,26.17,10.34,52.44
$GC,139,-1.82,-585.0,1773,2377,3173,4094,10.0,-11.3,19,145,0.00,1.08,0.00,0.000,1030,0.000,0.030,1773,1949,3173,3173,4095,0,0,0,0,0,0,26.11,26.08,26.15,10.52,52.48
$GC,180,-1.82,-585.0,1773,1949,3174,4095,14.8,-11.4,25,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1948,3174,3174,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.53,52.24
$GC,221,-1.82,-585.0,1773,1949,3175,4095,19.6,-11.6,31,227,0.00,1.10,0.00,0.000,516,0.000,0.055,1773,1521,3175,3175,4095,0,0,0,0,0,0,26.48,26.00,26.49,10.53,51.85
$GC,292,-1.82,-585.0,1773,1521,3176,4095,27.3,-9.5,42,299,0.00,1.00,0.00,0.000,1030,0.000,0.025,1773,1964,3176,3176,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.49,51.89
$GC,334,-1.82,-585.0,1772,1966,3177,4094,31.0,-8.5,48,341,0.00,1.02,0.00,0.000,260,0.000,0.041,1773,2362,3177,3177,4094,0,0,0,0,0,0,26.53,26.12,26.55,10.47,51.18
$GC,576,-1.82,-585.0,1772,2362,3182,4094,56.4,-10.9,87,583,0.00,0.98,0.00,0.000,1030,0.000,0.031,1773,1968,3182,3182,4095,0,0,0,0,0,0,26.29,26.25,26.32,10.41,48.89
$STATE,606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,606,begin apogee
$GC,619,-0.45,0.0,1773,2131,3183,4095,60.1,-10.5,92,660,4.30,0.00,33.60,1.326,10244,0.037,0.000,2188,2131,2484,2484,4094,0,0,0,0,0,0,26.28,25.21,24.09,10.40,49.17
$STATE,661,end apogee,CONTROL_FINISHED_OK
$STATE,661,begin climb
$GC,667,1.82,585.0,2188,2131,2484,4094,64.9,0.0,99,715,7.50,1.10,33.47,1.305,10756,0.026,0.043,2905,1714,1802,1802,4094,0,0,0,0,0,0,25.46,25.41,23.65,10.26,47.95
$GC,903,1.82,585.0,2904,1713,1796,4094,39.7,13.7,137,909,0.00,1.02,0.00,0.000,1030,0.000,0.030,2905,2127,1796,1796,4094,0,0,0,0,0,0,25.74,25.71,25.77,10.09,48.18
$GC,944,1.82,585.0,2904,2127,1795,4094,34.2,13.4,143,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2127,1795,1795,4094,0,0,0,0,0,0,26.10,26.12,26.11,10.09,48.42
$GC,985,1.82,585.0,2904,2127,1794,4094,28.6,13.6,149,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2127,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.10,49.13
$GC,1025,1.82,585.0,2904,2127,1792,4094,23.4,12.7,155,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2128,1793,1793,4094,0,0,0,0,0,0,26.22,26.23,26.24,10.11,49.09
$GC,1066,2.04,736.0,2904,2127,1791,4094,19.4,8.7,161,1080,0.68,1.10,9.18,0.712,10756,0.028,0.047,2981,1713,1625,1625,4094,0,0,0,0,0,0,26.03,25.58,24.59,10.14,49.92
$GC,1157,2.04,736.0,2980,1713,1622,4094,9.2,12.4,175,1164,0.00,1.02,0.00,0.000,1030,0.000,0.030,2980,2131,1622,1622,4094,0,0,0,0,0,0,25.94,25.91,25.98,10.14,52.24
$GC,1199,2.04,736.0,2980,2131,1621,4094,3.9,13.1,181,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2131,1620,1620,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.15,52.99
$STATE,1209,end climb,FINISH_DEPTH_REACHED
$STATE,1209,begin subsurface finish
$FINISH1,1.8,1.024167,100
$GC,1222,0.15,99.9,2981,2131,1619,4094,1.8,12.7,183,1241,6.03,0.00,-6.72,0.000,20486,0.022,0.000,2386,2131,2370,2370,4094,0,0,0,0,0,0,26.06,23.79,26.08,10.15,53.18
$FINISH2,0.0
$STATE,1242,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1242,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,053554
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.93
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,3.90
$XPDR_PINGS,1
$24V_AH,23.65,60.533
$10V_AH,10.34,56.094
$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,24.650,11.500,76.250,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,471.535,312.082,142.278,269.182,109.369,0.000,326.868,0.000,278.175,0.000,0.543,0.000
$DEVICE_MAMPS,37.485,1239.300,1325.745,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,125.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330648
$DATA_FILE_SIZE,14323,186
$CAP_FILE_SIZE,27064,0
$CFSIZE,1024409600,917520384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,065523,6008.213,-17322.168,10,0.7,14,7.2,0.0,204.3,11,4.7