version: 66.13
glider: 401
mission: 22
dive: 2050
start: 8 31 117 21 8 13
data:
$ID,401
$MISSION,22
$DIVE,2050
$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,17
$R_STBD_OVSHOOT,51
$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
$GPS1,310817,205758,6011.6401,-17328.0918,5,0.8,25,7.2,0.5,327.8,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-40.9
$GPS2,310817,210733,6011.6992,-17328.2168,5,0.7,21,7.2,0.7,356.0,11,4.9
$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,133.7,13460,-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,-585.0,237,1961,1684,4092,0.0,0.0,0,21,8.48,0.00,0.00,0.000,2049,0.095,0.000,947,1960,1684,1684,4094,0,0,0,0,0,0,26.26,28.83,28.83,10.24,52.08
$GC,27,-1.82,-585.0,946,1959,1684,4094,0.7,0.0,1,55,8.62,1.27,-14.00,0.000,18948,0.040,1.245,1753,1510,3171,3171,4095,0,0,0,0,0,0,25.90,24.01,25.96,10.24,52.20
$GC,288,-1.82,-585.0,1752,1510,3177,4095,33.6,-13.1,38,297,0.00,1.00,0.00,0.000,1030,0.000,0.024,1753,1939,3178,3178,4094,0,0,0,0,0,0,26.15,26.13,26.17,10.49,50.19
$GC,336,-1.82,-585.0,1752,1939,3178,4094,40.1,-13.6,44,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1939,3179,3179,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.46,49.48
$GC,384,-1.82,-585.0,1752,1939,3180,4094,46.8,-13.8,50,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1939,3181,3181,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.46,48.42
$GC,432,-1.82,-585.0,1752,1939,3181,4095,53.6,-14.2,56,441,0.00,1.10,0.00,0.000,260,0.000,0.046,1753,2364,3182,3182,4095,0,0,0,0,0,0,26.51,26.04,26.52,10.44,48.22
$STATE,475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,475,begin apogee
$GC,487,-0.45,0.0,1752,2105,3183,4094,60.2,-13.7,62,532,4.65,0.00,33.50,1.312,10244,0.052,0.000,2184,2102,2489,2489,4095,0,0,0,0,0,0,26.08,24.82,24.03,10.43,47.24
$STATE,533,end apogee,CONTROL_FINISHED_OK
$STATE,533,begin climb
$GC,538,1.82,585.0,2184,2102,2490,4095,63.5,0.0,67,582,7.70,0.00,33.72,1.281,11270,0.030,0.000,2904,2102,1802,1802,4094,0,0,0,0,0,0,25.48,25.65,23.65,10.29,46.49
$GC,623,1.82,585.0,2903,2102,1800,4094,56.6,13.6,77,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2102,1801,1801,4094,0,0,0,0,0,0,25.46,25.47,25.47,10.14,45.51
$GC,672,1.82,585.0,2903,2102,1799,4094,49.9,13.9,83,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2102,1799,1799,4094,0,0,0,0,0,0,25.71,25.72,25.72,10.13,45.62
$GC,721,1.82,585.0,2903,2101,1797,4094,43.4,13.0,89,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2102,1797,1797,4094,0,0,0,0,0,0,25.87,25.89,25.89,10.12,45.90
$GC,771,1.82,585.0,2903,2102,1796,4094,36.9,13.5,95,780,0.00,0.95,0.00,0.000,516,0.000,0.044,2905,1736,1795,1795,4094,0,0,0,0,0,0,26.00,25.60,26.01,10.12,46.45
$GC,865,1.82,585.0,2903,1736,1793,4094,23.5,13.9,108,875,0.00,0.95,0.00,0.000,1030,0.000,0.030,2904,2125,1792,1792,4094,0,0,0,0,0,0,25.87,25.80,25.90,10.12,46.92
$GC,915,1.82,585.0,2903,2124,1791,4094,17.7,11.7,114,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1791,1791,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.17,48.74
$GC,965,1.94,670.4,2903,2124,1790,4094,12.8,9.5,120,975,0.35,0.00,5.65,0.540,10246,0.034,0.000,2945,2125,1702,1702,4094,0,0,0,0,0,0,26.05,25.51,24.60,10.19,50.78
$GC,1016,1.94,670.4,2944,2124,1701,4094,7.0,11.8,126,1025,0.00,1.02,0.00,0.000,516,0.000,0.044,2945,1736,1701,1701,4094,0,0,0,0,0,0,26.27,25.85,26.29,10.18,51.10
$STATE,1053,end climb,FINISH_DEPTH_REACHED
$STATE,1053,begin subsurface finish
$FINISH1,1.6,1.024155,101
$GC,1067,0.15,100.7,2944,2147,1699,4094,1.6,12.0,131,1084,5.70,0.00,-5.97,0.000,20486,0.021,0.000,2389,2148,2372,2372,4094,0,0,0,0,0,0,26.03,25.35,26.09,10.18,51.77
$FINISH2,0.2
$STATE,1085,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,310817,194908
$TT8_MAMPS,0.025466,0.26215
$HUMID,52.24
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.65,59.730
$10V_AH,10.06,55.515
$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,35.500,8.000,72.875,0.000,0.000,24.140,20.985,260.966,0.000,0.000,23.042,382.199,0.000,116.516,829.783,340.772,0.000,342.497,0.000,327.126,0.000,0.542,0.000
$DEVICE_MAMPS,94.860,1245.420,1311.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.205,361.327,285.980,423.931,554.518,0.000,0.000,0.000,0.000,0.000
$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,14376,133
$CAP_FILE_SIZE,27775,0
$CFSIZE,1024409600,918749184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310817,210733,6011.699,-17328.217,5,0.7,21,7.2,0.7,356.0,11,4.9