version: 66.13
glider: 401
mission: 22
dive: 2079
start: 9 1 117 8 56 14
data:
$ID,401
$MISSION,22
$DIVE,2079
$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,36
$R_STBD_OVSHOOT,26
$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,0.06
$_SM_ANGLEo,-3.0
$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,-585.0,2389,1939,2371,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.020,0.000,1834,1940,2371,2371,4094,0,0,0,0,0,0,26.39,28.83,28.83,10.34,52.91
$GC,24,-1.82,-585.0,1833,1939,2371,4094,0.0,0.0,1,37,0.55,0.00,-7.68,0.000,20486,0.034,0.000,1773,1940,3172,3172,4095,0,0,0,0,0,0,26.10,24.48,26.13,10.34,53.03
$GC,72,-1.82,-585.0,1773,1939,3173,4095,3.9,-13.6,8,78,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1940,3173,3173,4095,0,0,0,0,0,0,26.36,26.39,26.38,10.51,53.78
$GC,112,-1.82,-585.0,1773,1940,3174,4095,10.7,-17.7,14,118,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1940,3174,3174,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.51,52.59
$GC,153,-1.82,-585.0,1772,1940,3175,4095,17.9,-17.4,20,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3176,3176,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.52,52.55
$GC,193,-1.82,-585.0,1772,1940,3176,4095,24.2,-14.2,26,200,0.00,1.05,0.00,0.000,516,0.000,0.051,1773,1526,3177,3177,4094,0,0,0,0,0,0,26.46,25.99,26.46,10.50,52.75
$GC,289,-1.82,-585.0,1772,1525,3179,4094,36.2,-12.3,41,295,0.00,1.02,0.00,0.000,1030,0.000,0.028,1773,1961,3179,3179,4095,0,0,0,0,0,0,26.22,26.20,26.25,10.45,51.22
$GC,330,-1.82,-585.0,1772,1961,3180,4095,41.3,-12.1,47,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1961,3180,3180,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.43,51.41
$GC,371,-1.82,-585.0,1772,1960,3181,4094,46.2,-11.7,53,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1961,3181,3181,4095,0,0,0,0,0,0,26.54,26.56,26.55,10.42,49.92
$GC,411,-1.82,-585.0,1772,1961,3182,4095,51.0,-12.0,59,418,0.00,1.08,0.00,0.000,260,0.000,0.046,1773,2372,3182,3182,4095,0,0,0,0,0,0,26.56,26.10,26.57,10.42,49.48
$GC,471,-1.82,-585.0,1772,2372,3183,4095,58.2,-12.4,68,477,0.00,1.00,0.00,0.000,1030,0.000,0.029,1773,1974,3183,3183,4094,0,0,0,0,0,0,26.27,26.25,26.29,10.41,49.84
$STATE,484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,484,begin apogee
$GC,496,-0.45,0.0,1773,2141,3183,4095,60.3,-12.8,70,537,4.40,0.00,33.62,1.327,10244,0.051,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.15,25.17,24.06,10.40,49.05
$STATE,538,end apogee,CONTROL_FINISHED_OK
$STATE,539,begin climb
$GC,544,1.82,585.0,2185,2141,2484,4094,63.6,0.0,77,591,7.65,0.00,33.45,1.285,11270,0.029,0.000,2903,2142,1803,1803,4094,0,0,0,0,0,0,25.49,25.66,23.66,10.26,48.26
$GC,627,1.82,585.0,2903,2141,1802,4094,56.4,13.0,90,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2141,1802,1802,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.11,47.63
$GC,668,1.82,585.0,2902,2141,1801,4094,50.6,14.1,96,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2142,1801,1801,4094,0,0,0,0,0,0,25.67,25.69,25.68,10.10,47.99
$GC,708,1.82,585.0,2903,2141,1799,4094,44.9,13.7,102,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2141,1799,1799,4094,0,0,0,0,0,0,25.82,25.84,25.84,10.10,47.99
$GC,749,1.82,585.0,2903,2141,1798,4094,39.4,13.8,108,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2141,1798,1798,4094,0,0,0,0,0,0,25.94,25.96,25.95,10.10,47.75
$GC,789,1.82,585.0,2903,2141,1796,4094,34.1,12.9,114,796,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1711,1796,1796,4095,0,0,0,0,0,0,26.03,25.63,26.05,10.10,48.42
$GC,989,1.83,593.7,2903,1710,1790,4095,9.8,10.4,146,996,0.00,1.00,0.00,0.000,1030,0.000,0.028,2903,2123,1790,1790,4094,0,0,0,0,0,0,26.03,26.00,26.06,10.18,52.48
$GC,1031,1.83,594.3,2903,2123,1789,4094,5.5,10.5,152,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2123,1789,1789,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.17,52.83
$STATE,1060,end climb,SURFACE_DEPTH_REACHED
$STATE,1061,begin surface coast
$FINISH,0.3,1.024166
$STATE,1074,end surface coast,CONTROL_FINISHED_OK
$STATE,1074,begin surface
$SM_CCo,1180,0.00,0.000,0,0,1788,598.44
$SM_GC,0.84,27.70,0.45,0.00,0.020,0.039,0.000,237,1943,1788,-6.55,1.23,598.44,0,0,0,0,0,0,26.15,26.08,26.18
$IRIDIUM_FIX,5952.82,-17420.78,010917,080607
$TT8_MAMPS,0.025466,0.106358
$HUMID,54.09
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.66,60.659
$10V_AH,10.34,56.188
$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,45.900,7.600,67.075,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,418.790,309.766,163.987,231.232,126.776,0.000,336.111,0.000,239.957,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,51.255,1326.510,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.557,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330632
$DATA_FILE_SIZE,10819,159
$CAP_FILE_SIZE,27690,0
$CFSIZE,1024409600,917323776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,091726,6007.069,-17321.984,3,1.0,48,7.2,0.3,238.8,8,3.0