version: 66.13
glider: 401
mission: 22
dive: 2077
start: 9 1 117 8 15 29
data:
$ID,401
$MISSION,22
$DIVE,2077
$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,26
$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
$GPS1,010917,080151,6007.5854,-17322.1543,3,0.9,15,7.2,0.7,205.3,10,4.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-39.4
$GPS2,010917,081450,6007.5220,-17322.2871,5,0.9,17,7.2,0.0,171.4,10,5.0
$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,124.7,4053,-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,-585.0,230,1950,1771,4092,0.0,0.0,0,18,5.70,0.00,0.00,0.000,2049,0.100,0.000,703,1950,1771,1771,4094,0,0,0,0,0,0,26.22,28.83,28.83,10.25,51.65
$GC,24,-1.82,-585.0,703,1950,1771,4094,0.7,0.0,1,55,11.25,1.23,-13.10,0.000,18692,0.043,1.227,1752,2376,3170,3170,4094,0,0,0,0,0,0,25.79,23.94,25.89,10.26,51.02
$GC,225,-1.82,-585.0,1750,2376,3175,4094,26.2,-13.5,33,231,0.00,1.08,0.00,0.000,1030,0.000,0.029,1752,1945,3175,3175,4095,0,0,0,0,0,0,26.03,25.99,26.06,10.52,50.51
$GC,266,-1.82,-585.0,1750,1945,3176,4095,31.4,-12.5,39,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1945,3176,3176,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.49,50.43
$GC,307,-1.82,-585.0,1751,1945,3177,4095,36.8,-13.1,45,313,0.00,1.08,0.00,0.000,516,0.000,0.049,1751,1520,3178,3178,4095,0,0,0,0,0,0,26.42,25.95,26.43,10.47,49.09
$GC,372,-1.82,-585.0,1751,1519,3179,4095,45.5,-13.2,55,379,0.00,1.00,0.00,0.000,1030,0.000,0.025,1752,1949,3179,3179,4095,0,0,0,0,0,0,26.18,26.15,26.20,10.45,48.14
$GC,414,-1.82,-585.0,1752,1949,3181,4095,51.0,-13.5,61,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1949,3180,3180,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.44,47.67
$GC,454,-1.82,-585.0,1751,1949,3181,4095,56.4,-13.4,67,460,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1949,3181,3181,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.43,47.24
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,490,-0.45,0.0,1751,2140,3182,4095,60.1,-12.6,71,532,4.68,0.00,33.60,1.312,10244,0.052,0.000,2186,2140,2484,2484,4094,0,0,0,0,0,0,26.06,25.10,24.01,10.43,47.87
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,538,1.82,585.0,2186,2140,2484,4094,63.4,0.0,78,585,7.62,0.00,33.38,1.276,11270,0.029,0.000,2905,2140,1802,1802,4094,0,0,0,0,0,0,25.46,25.62,23.65,10.28,46.77
$GC,620,1.82,585.0,2904,2139,1801,4094,56.2,13.4,91,627,0.00,1.15,0.00,0.000,516,0.000,0.043,2905,1713,1801,1801,4094,0,0,0,0,0,0,25.44,25.11,25.46,10.13,45.58
$GC,740,1.82,585.0,2905,1713,1797,4094,40.0,13.2,110,746,0.00,1.00,0.00,0.000,1030,0.000,0.028,2905,2118,1797,1797,4094,0,0,0,0,0,0,25.66,25.63,25.67,10.11,46.73
$GC,781,1.82,585.0,2904,2118,1796,4094,34.7,12.7,116,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2118,1796,1796,4094,0,0,0,0,0,0,26.03,26.04,26.03,10.11,46.69
$GC,822,1.82,585.0,2904,2118,1794,4094,29.4,12.9,122,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2118,1794,1794,4094,0,0,0,0,0,0,26.10,26.12,26.12,10.12,46.88
$GC,862,1.82,585.0,2904,2118,1793,4094,24.1,13.3,128,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2119,1793,1793,4094,0,0,0,0,0,0,26.17,26.18,26.18,10.13,48.42
$GC,903,1.82,585.0,2904,2118,1792,4094,19.2,11.6,134,909,0.00,1.08,0.00,0.000,516,0.000,0.045,2905,1713,1792,1792,4095,0,0,0,0,0,0,26.22,25.79,26.24,10.14,48.54
$GC,1022,1.84,603.8,2904,1713,1789,4095,7.4,10.3,153,1030,0.00,1.00,2.33,0.128,9222,0.000,0.028,2905,2127,1778,1778,4094,0,0,0,0,0,0,26.05,26.02,24.38,10.19,52.20
$GC,1065,1.85,606.4,2904,2126,1777,4094,2.9,10.5,159,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2127,1777,1777,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.20,52.75
$STATE,1076,end climb,FINISH_DEPTH_REACHED
$STATE,1076,begin subsurface finish
$FINISH1,1.1,1.024169,100
$GC,1088,0.15,99.7,2905,2127,1776,4094,1.1,10.8,161,1102,5.25,0.00,-5.38,0.000,20486,0.021,0.000,2384,2127,2373,2373,4095,0,0,0,0,0,0,26.13,24.40,26.17,10.20,53.22
$FINISH2,0.2
$STATE,1103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1103,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,080607
$TT8_MAMPS,0.025466,0.161784
$HUMID,52.83
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.65,60.609
$10V_AH,10.21,56.146
$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,34.500,9.050,69.300,0.000,0.000,46.907,40.387,357.427,0.000,0.000,18.283,424.112,300.819,150.628,631.519,380.926,0.000,330.075,0.000,247.291,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,1227.060,1311.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329240
$DATA_FILE_SIZE,10786,163
$CAP_FILE_SIZE,32443,0
$CFSIZE,1024409600,917422080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,081450,6007.522,-17322.287,5,0.9,17,7.2,0.0,171.4,10,5.0