version: 66.13
glider: 401
mission: 22
dive: 2078
start: 9 1 117 8 35 56
data:
$ID,401
$MISSION,22
$DIVE,2078
$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,33
$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
$GPS1,010917,081450,6007.5220,-17322.2871,5,0.9,17,7.2,0.0,171.4,10,5.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.1
$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,-585.0,2384,1945,2373,4092,0.0,0.0,0,21,6.35,0.00,-1.15,0.000,20482,0.022,0.000,1760,1946,2495,2495,4094,0,0,0,0,0,0,26.17,28.83,26.22,10.35,53.26
$GC,27,-1.82,-585.0,1759,1946,2495,4094,0.0,0.0,1,37,0.00,1.23,-6.53,0.000,16644,0.000,1.237,1759,2377,3171,3171,4095,0,0,0,0,0,0,26.46,24.20,26.48,10.37,53.03
$GC,237,-1.82,-585.0,1758,2377,3178,4095,30.2,-13.5,31,247,0.00,1.05,0.00,0.000,1030,0.000,0.031,1759,1956,3177,3177,4094,0,0,0,0,0,0,26.22,26.17,26.22,10.47,52.04
$GC,286,-1.82,-585.0,1759,1956,3178,4094,37.0,-14.0,37,295,0.00,1.10,0.00,0.000,516,0.000,0.050,1759,1521,3179,3179,4095,0,0,0,0,0,0,26.57,26.10,26.58,10.44,51.10
$GC,354,-1.82,-585.0,1758,1521,3180,4095,46.7,-13.9,46,363,0.00,0.98,0.00,0.000,1030,0.000,0.026,1759,1943,3181,3181,4095,0,0,0,0,0,0,26.31,26.28,26.33,10.43,49.48
$GC,403,-1.82,-585.0,1758,1943,3181,4095,53.3,-13.7,52,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1943,3182,3182,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.42,49.60
$GC,451,-1.82,-585.0,1759,1943,3183,4095,59.9,-13.9,58,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1943,3183,3183,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.41,49.40
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,479,-0.45,0.0,1759,2139,3183,4095,62.9,-14.1,60,523,4.55,0.00,33.88,1.351,10244,0.052,0.000,2184,2139,2484,2484,4094,0,0,0,0,0,0,26.17,25.18,24.06,10.41,48.66
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,529,1.82,585.0,2185,2139,2484,4094,66.7,0.0,65,574,7.57,0.00,33.35,1.314,11270,0.029,0.000,2903,2139,1802,1802,4094,0,0,0,0,0,0,25.51,25.69,23.64,10.27,48.11
$GC,615,1.82,585.0,2902,2138,1802,4094,60.2,12.3,75,624,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1716,1801,1801,4095,0,0,0,0,0,0,25.48,25.15,25.49,10.11,46.92
$GC,748,1.82,585.0,2902,1715,1796,4095,41.3,14.5,94,758,0.00,1.00,0.00,0.000,1030,0.000,0.030,2903,2120,1796,1796,4093,0,0,0,0,0,0,25.70,25.67,25.73,10.10,48.03
$GC,798,1.82,585.0,2902,2120,1794,4093,34.2,14.8,100,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1795,1795,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.10,48.34
$GC,845,1.82,585.0,2902,2120,1793,4094,27.2,14.0,106,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1793,1793,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.11,48.38
$GC,893,1.82,585.0,2903,2120,1791,4094,21.1,12.4,112,902,0.00,1.08,0.00,0.000,516,0.000,0.047,2903,1717,1791,1791,4095,0,0,0,0,0,0,26.22,25.79,26.24,10.14,49.37
$GC,988,1.82,585.0,2902,1717,1788,4095,10.3,11.3,125,998,0.00,1.00,0.00,0.000,1030,0.000,0.028,2903,2127,1788,1788,4094,0,0,0,0,0,0,26.02,25.99,26.07,10.18,52.24
$GC,1038,1.82,585.0,2903,2127,1787,4094,4.8,11.1,131,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1786,1786,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.18,52.16
$STATE,1062,end climb,FINISH_DEPTH_REACHED
$STATE,1062,begin subsurface finish
$FINISH1,1.3,1.024166,100
$GC,1074,0.15,99.9,2903,2127,1786,4095,1.3,11.3,134,1093,5.22,0.00,-5.35,0.000,20486,0.023,0.000,2389,2127,2371,2371,4094,0,0,0,0,0,0,26.10,25.43,26.16,10.19,52.63
$FINISH2,0.1
$STATE,1094,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1094,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,080607
$TT8_MAMPS,0.025466,0.260652
$HUMID,53.30
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.64,60.635
$10V_AH,10.06,56.177
$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,23.700,9.475,67.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.154,0.000,107.227,567.879,106.026,0.000,321.272,0.000,332.302,0.000,0.543,0.000
$DEVICE_MAMPS,52.020,1237.005,1350.990,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.570,369.471,292.445,433.656,566.341,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,14369,136
$CAP_FILE_SIZE,23068,0
$CFSIZE,1024409600,917372928
$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