version: 66.13
glider: 401
mission: 22
dive: 2052
start: 8 31 117 21 49 4
data:
$ID,401
$MISSION,22
$DIVE,2052
$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,61
$R_STBD_OVSHOOT,42
$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
$GPS1,310817,210733,6011.6992,-17328.2168,5,0.7,21,7.2,0.7,356.0,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-4.3
$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,6,begin dive
$GC,11,-1.82,-585.0,2390,1975,2371,4092,0.0,0.0,0,29,6.50,0.00,-7.65,0.000,20486,0.025,0.000,1762,1975,3169,3169,4094,0,0,0,0,0,0,26.06,24.30,26.12,10.34,53.89
$GC,35,-1.82,-585.0,1762,1975,3170,4094,0.1,-0.9,2,44,0.00,1.02,0.00,0.000,260,0.000,0.044,1762,2362,3170,3170,4094,0,0,0,0,0,0,26.34,25.96,26.34,10.52,54.33
$GC,258,-1.82,-585.0,1761,2362,3176,4094,32.7,-11.5,34,268,0.00,0.95,0.00,0.000,1030,0.000,0.029,1762,1984,3176,3176,4095,0,0,0,0,0,0,26.21,26.18,26.22,10.46,52.40
$GC,307,-1.82,-585.0,1762,1984,3177,4095,38.9,-12.9,40,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1984,3177,3177,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.44,51.33
$GC,354,-1.82,-585.0,1761,1984,3178,4095,45.0,-12.8,46,364,0.00,1.17,0.00,0.000,516,0.000,0.051,1762,1523,3178,3178,4095,0,0,0,0,0,0,26.54,26.06,26.55,10.43,50.27
$GC,429,-1.82,-585.0,1761,1523,3180,4095,54.9,-13.1,56,438,0.00,0.95,0.00,0.000,1030,0.000,0.028,1762,1922,3180,3180,4094,0,0,0,0,0,0,26.28,26.25,26.30,10.41,49.68
$STATE,465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,465,begin apogee
$GC,477,-0.45,0.0,1762,2148,3181,4095,60.4,-13.7,61,521,4.55,0.00,33.60,1.317,10244,0.053,0.000,2185,2148,2484,2484,4095,0,0,0,0,0,0,26.14,25.18,24.08,10.41,49.17
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$GC,528,1.82,585.0,2185,2148,2484,4095,64.2,0.0,66,572,7.68,0.00,33.42,1.287,11270,0.030,0.000,2902,2148,1801,1801,4094,0,0,0,0,0,0,25.51,25.68,23.67,10.26,48.34
$GC,613,1.82,585.0,2902,2148,1800,4094,57.6,12.6,76,623,0.00,1.20,0.00,0.000,516,0.000,0.043,2903,1708,1800,1800,4094,0,0,0,0,0,0,25.48,25.15,25.49,10.11,47.16
$GC,734,1.82,585.0,2902,1707,1796,4094,41.5,13.1,93,743,0.00,1.05,0.00,0.000,1030,0.000,0.030,2903,2130,1796,1796,4094,0,0,0,0,0,0,25.66,25.62,25.68,10.10,47.40
$GC,783,1.82,585.0,2902,2129,1795,4094,34.9,13.8,99,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1794,1794,4094,0,0,0,0,0,0,26.05,26.06,26.06,10.09,47.99
$GC,831,1.82,585.0,2902,2129,1794,4094,28.2,13.7,105,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1793,1793,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.09,47.83
$GC,879,1.82,585.0,2902,2130,1791,4094,21.6,13.1,111,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2130,1790,1790,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.11,48.77
$GC,927,1.82,585.0,2902,2129,1790,4094,16.2,11.1,117,936,0.00,1.12,0.00,0.000,516,0.000,0.047,2903,1706,1790,1790,4095,0,0,0,0,0,0,26.26,25.82,26.27,10.15,49.96
$GC,1040,1.82,585.0,2902,1706,1787,4095,4.1,10.7,133,1050,0.00,1.02,0.00,0.000,1030,0.000,0.030,2903,2127,1787,1787,4095,0,0,0,0,0,0,26.06,26.03,26.08,10.18,52.32
$STATE,1058,end climb,SURFACE_DEPTH_REACHED
$STATE,1058,begin surface coast
$FINISH,0.2,1.024149
$STATE,1081,end surface coast,CONTROL_FINISHED_OK
$STATE,1081,begin surface
$SM_CCo,1188,0.00,0.000,0,0,1785,601.02
$SM_GC,0.91,27.92,0.47,0.00,0.021,0.046,0.000,230,1947,1785,-6.59,1.05,601.02,0,0,0,0,0,0,25.96,26.06,26.05
$IRIDIUM_FIX,5952.82,-17420.78,310817,194908
$TT8_MAMPS,0.025466,0.248668
$HUMID,53.42
$INTERNAL_PRESSURE,10.1309
$TCM_TEMP,3.60
$XPDR_PINGS,0
$24V_AH,23.67,59.781
$10V_AH,10.11,55.557
$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,46.650,10.050,67.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,384.401,61.220,126.538,576.774,109.118,0.000,334.673,0.000,338.645,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,51.255,1317.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.192,374.928,296.741,439.767,574.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330776
$DATA_FILE_SIZE,14367,138
$CAP_FILE_SIZE,23800,0
$CFSIZE,1024409600,918650880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310817,221011,6011.742,-17328.057,6,0.9,35,7.2,0.6,246.1,9,5.0