version: 66.13
glider: 401
mission: 22
dive: 2029
start: 8 31 117 12 28 18
data:
$ID,401
$MISSION,22
$DIVE,2029
$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,24
$R_STBD_OVSHOOT,25
$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
$GPS1,310817,121731,6014.9136,-17328.9980,5,0.9,40,7.1,0.4,45.2,9,4.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-37.3
$GPS2,310817,122739,6014.9556,-17329.0293,5,0.8,16,7.1,0.0,0.0,10,4.6
$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,143.6,18889,-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,-585.0,230,1969,1682,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.086,0.000,708,1970,1682,1682,4094,0,0,0,0,0,0,26.24,28.83,28.83,10.22,51.61
$GC,24,-1.82,-585.0,707,1970,1682,4094,0.6,0.0,1,55,11.20,1.17,-13.95,0.000,19204,0.041,1.229,1752,2387,3170,3170,4094,0,0,0,0,0,0,25.87,23.97,25.95,10.23,51.53
$GC,266,-1.82,-585.0,1752,2386,3176,4094,31.8,-14.1,40,273,0.00,1.10,0.00,0.000,1030,0.000,0.029,1753,1946,3176,3176,4095,0,0,0,0,0,0,26.08,26.04,26.10,10.48,50.03
$GC,308,-1.82,-585.0,1752,1946,3177,4095,37.9,-14.6,46,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3177,3177,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.46,49.80
$GC,348,-1.82,-585.0,1752,1946,3178,4095,43.6,-13.4,52,354,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3178,3178,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.45,48.42
$GC,389,-1.82,-585.0,1752,1947,3179,4095,49.3,-13.9,58,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3179,3179,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.45,48.22
$GC,429,-1.82,-585.0,1752,1946,3180,4095,54.8,-13.9,64,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3180,3180,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.44,47.59
$STATE,465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,477,-0.45,0.0,1753,2148,3181,4095,60.3,-13.5,70,519,4.68,0.00,33.67,1.312,10244,0.052,0.000,2185,2148,2484,2484,4094,0,0,0,0,0,0,26.08,25.13,24.02,10.43,47.40
$STATE,520,end apogee,CONTROL_FINISHED_OK
$STATE,520,begin climb
$GC,525,1.82,585.0,2185,2148,2483,4094,63.8,0.0,77,572,7.70,0.00,33.33,1.278,11270,0.030,0.000,2904,2148,1803,1803,4094,0,0,0,0,0,0,25.46,25.63,23.65,10.27,47.08
$GC,607,1.82,585.0,2903,2148,1802,4094,56.7,13.5,90,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2148,1802,1802,4094,0,0,0,0,0,0,25.44,25.46,25.46,10.13,46.61
$GC,648,1.82,585.0,2903,2148,1800,4094,51.1,13.4,96,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2148,1800,1800,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.12,46.06
$GC,688,1.82,585.0,2903,2147,1799,4094,45.7,13.5,102,695,0.00,1.15,0.00,0.000,516,0.000,0.042,2904,1716,1799,1799,4094,0,0,0,0,0,0,25.81,25.43,25.82,10.11,46.25
$GC,777,1.82,585.0,2903,1716,1796,4094,33.7,13.1,116,784,0.00,1.02,0.00,0.000,1030,0.000,0.029,2904,2131,1796,1796,4095,0,0,0,0,0,0,25.75,25.72,25.78,10.11,47.00
$GC,819,1.82,585.0,2903,2131,1795,4095,28.4,12.7,122,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2131,1795,1795,4094,0,0,0,0,0,0,26.11,26.13,26.13,10.11,47.87
$GC,859,1.82,585.0,2904,2130,1793,4094,23.2,13.0,128,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2131,1793,1793,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.10,47.87
$GC,900,1.84,604.1,2903,2131,1792,4094,18.7,10.3,134,907,0.00,0.00,2.50,0.198,8198,0.000,0.000,2904,2131,1778,1778,4094,0,0,0,0,0,0,26.23,25.32,24.30,10.14,48.93
$GC,941,1.84,604.1,2904,2131,1777,4094,14.3,10.7,140,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2131,1777,1777,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.16,50.78
$GC,982,1.93,660.9,2904,2131,1777,4094,10.2,9.8,146,995,0.28,1.08,4.65,0.465,10756,0.038,0.045,2940,1716,1713,1713,4094,0,0,0,0,0,0,26.08,25.59,24.60,10.17,51.73
$STATE,1055,end climb,FINISH_DEPTH_REACHED
$STATE,1055,begin subsurface finish
$FINISH1,1.3,1.024181,99
$GC,1069,0.15,98.9,2940,2138,1710,4094,1.3,11.1,158,1083,5.68,0.00,-5.93,0.000,20486,0.021,0.000,2384,2139,2375,2375,4095,0,0,0,0,0,0,26.08,24.38,26.13,10.18,53.11
$FINISH2,0.1
$STATE,1084,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1084,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,310817,110905
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.03
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,5.20
$XPDR_PINGS,0
$24V_AH,23.65,59.040
$10V_AH,10.21,55.009
$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,35.125,7.100,74.150,0.000,0.000,21.121,24.047,291.702,0.000,0.000,18.015,414.540,247.786,155.556,529.180,351.731,0.000,334.293,0.000,243.022,0.000,0.543,0.000
$DEVICE_MAMPS,86.445,1228.590,1311.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,106.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329328
$DATA_FILE_SIZE,10811,160
$CAP_FILE_SIZE,30490,0
$CFSIZE,1024409600,919781376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310817,122739,6014.956,-17329.029,5,0.8,16,7.1,0.0,0.0,10,4.6