version: 66.13
glider: 401
mission: 22
dive: 2080
start: 9 1 117 9 28 7
data:
$ID,401
$MISSION,22
$DIVE,2080
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,010917,091726,6007.0693,-17321.9844,3,1.0,48,7.2,0.3,238.8,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-39.9
$GPS2,010917,092728,6007.0449,-17322.0957,10,1.0,55,7.2,0.3,235.3,8,3.0
$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,115.5,3375,-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,-585.0,237,1942,1787,4092,0.0,0.0,0,21,8.55,0.00,0.00,0.000,2049,0.095,0.000,956,1943,1787,1787,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.25,51.69
$GC,27,-1.82,-585.0,955,1942,1788,4094,0.7,0.0,1,54,8.48,1.27,-13.15,0.000,18692,0.041,1.233,1752,2381,3171,3171,4095,0,0,0,0,0,0,25.91,24.04,25.95,10.26,51.45
$GC,208,-1.82,-585.0,1751,2381,3177,4095,23.8,-17.9,26,218,0.00,1.08,0.00,0.000,1030,0.000,0.028,1751,1952,3177,3177,4095,0,0,0,0,0,0,26.08,26.06,26.12,10.54,50.90
$GC,257,-1.82,-585.0,1751,1952,3178,4095,30.7,-13.8,32,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3178,3178,4095,0,0,0,0,0,0,26.46,26.46,26.46,10.51,51.06
$GC,305,-1.82,-585.0,1751,1952,3179,4095,37.0,-13.2,38,313,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3179,3179,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.49,49.37
$GC,352,-1.82,-585.0,1751,1952,3181,4095,43.4,-13.1,44,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1952,3181,3181,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.46,48.66
$GC,400,-1.82,-585.0,1751,1951,3181,4095,49.8,-13.4,50,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3183,3183,4095,0,0,0,0,0,0,26.53,26.54,26.53,10.45,47.51
$GC,448,-1.82,-585.0,1752,1952,3183,4095,56.1,-13.4,56,457,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1952,3183,3183,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.45,47.12
$STATE,477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,477,begin apogee
$GC,490,-0.45,0.0,1752,2143,3183,4095,60.8,-13.4,60,533,4.65,0.00,33.95,1.335,10244,0.053,0.000,2186,2143,2484,2484,4095,0,0,0,0,0,0,26.10,25.13,24.00,10.43,46.77
$STATE,534,end apogee,CONTROL_FINISHED_OK
$STATE,534,begin climb
$GC,540,1.82,585.0,2185,2143,2484,4095,64.7,0.0,65,585,7.62,0.00,33.53,1.295,11270,0.029,0.000,2903,2143,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.62,10.29,46.65
$GC,626,1.82,585.0,2902,2142,1801,4094,57.6,13.1,75,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2143,1801,1801,4094,0,0,0,0,0,0,25.48,25.48,25.48,10.14,45.27
$GC,675,1.82,585.0,2902,2142,1799,4094,50.8,14.0,81,685,0.00,1.15,0.00,0.000,516,0.000,0.042,2903,1713,1799,1799,4094,0,0,0,0,0,0,25.72,25.34,25.73,10.13,45.55
$GC,776,1.82,585.0,2903,1713,1796,4094,36.9,12.8,95,785,0.00,1.00,0.00,0.000,1030,0.000,0.029,2903,2120,1795,1795,4094,0,0,0,0,0,0,25.72,25.70,25.75,10.11,46.81
$GC,825,1.82,585.0,2903,2119,1794,4094,30.8,12.4,101,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1794,1794,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.11,46.73
$GC,872,1.82,585.0,2902,2119,1793,4094,24.8,11.7,107,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2120,1793,1793,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.13,47.16
$GC,920,1.82,585.0,2903,2119,1791,4094,19.3,11.4,113,930,0.00,1.08,0.00,0.000,516,0.000,0.046,2903,1714,1791,1791,4094,0,0,0,0,0,0,26.25,25.86,26.26,10.16,48.58
$GC,1040,1.82,585.0,2902,1713,1788,4094,7.0,10.6,130,1050,0.00,0.95,0.00,0.000,1030,0.000,0.029,2903,2108,1788,1788,4095,0,0,0,0,0,0,26.07,26.03,26.11,10.19,51.37
$STATE,1084,end climb,FINISH_DEPTH_REACHED
$STATE,1084,begin subsurface finish
$FINISH1,1.7,1.024163,100
$GC,1097,0.15,100.1,2903,2107,1787,4094,1.7,11.2,136,1115,5.22,0.00,-5.28,0.000,20486,0.023,0.000,2389,2107,2364,2364,4094,0,0,0,0,0,0,26.11,25.41,26.16,10.20,51.57
$FINISH2,0.1
$STATE,1116,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1116,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,080910
$TT8_MAMPS,0.025466,0.244923
$HUMID,52.28
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.62,60.702
$10V_AH,10.06,56.228
$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,34.525,7.000,67.475,0.000,0.000,22.894,19.006,254.880,0.000,0.000,56.252,383.770,0.000,119.458,872.578,349.896,0.000,353.149,0.000,337.608,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,1233.180,1334.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.581,374.943,296.711,439.887,574.419,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,14373,138
$CAP_FILE_SIZE,28116,0
$CFSIZE,1024409600,917274624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,010917,092728,6007.045,-17322.096,10,1.0,55,7.2,0.3,235.3,8,3.0