version: 66.13
glider: 401
mission: 22
dive: 2069
start: 9 1 117 4 51 18
data:
$ID,401
$MISSION,22
$DIVE,2069
$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,32
$R_STBD_OVSHOOT,22
$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
$GPS1,010917,043004,6010.1875,-17322.9902,9,0.8,28,7.2,0.3,177.9,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-2.6
$GPS2,010917,043004,6010.1875,-17322.9902,9,0.8,28,7.2,0.3,177.9,11,4.7
$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,147.2,8477,-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,-585.0,2389,1940,2369,4092,0.0,0.0,0,24,6.45,0.00,-4.62,0.000,20482,0.024,0.000,1760,1940,2862,2862,4094,0,0,0,0,0,0,26.13,28.83,26.15,10.35,52.20
$GC,30,-1.82,-585.0,1760,1940,2862,4094,0.1,-1.0,2,38,0.00,1.30,-2.78,0.000,16644,0.000,1.238,1760,2387,3170,3170,4095,0,0,0,0,0,0,26.39,24.18,26.38,10.45,52.48
$GC,273,-1.82,-585.0,1759,2387,3177,4095,35.5,-14.2,41,280,0.00,1.08,0.00,0.000,1030,0.000,0.030,1760,1954,3177,3177,4094,0,0,0,0,0,0,26.17,26.13,26.20,10.46,51.53
$GC,315,-1.82,-585.0,1759,1954,3178,4094,41.3,-13.7,47,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1954,3178,3178,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.44,50.11
$GC,355,-1.82,-585.0,1759,1954,3179,4095,46.8,-13.1,53,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1954,3179,3179,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.43,50.51
$GC,396,-1.82,-585.0,1759,1954,3179,4095,52.4,-14.1,59,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1954,3180,3180,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.43,49.48
$GC,436,-1.82,-585.0,1759,1954,3181,4095,57.9,-13.5,65,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1954,3181,3181,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.42,49.05
$STATE,447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,447,begin apogee
$GC,459,-0.45,0.0,1760,2152,3182,4095,60.1,-13.8,67,501,4.60,0.00,33.53,1.317,10244,0.051,0.000,2186,2152,2484,2484,4095,0,0,0,0,0,0,26.13,25.18,24.08,10.42,49.01
$STATE,502,end apogee,CONTROL_FINISHED_OK
$STATE,502,begin climb
$GC,507,1.82,585.0,2186,2151,2484,4095,63.7,0.0,74,554,7.68,0.00,33.33,1.278,11270,0.029,0.000,2903,2152,1803,1803,4094,0,0,0,0,0,0,25.50,25.67,23.70,10.27,47.99
$GC,589,1.82,585.0,2903,2151,1802,4094,56.6,13.4,87,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2152,1802,1802,4095,0,0,0,0,0,0,25.46,25.48,25.48,10.12,46.88
$GC,630,1.82,585.0,2903,2151,1800,4095,50.8,14.3,93,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2152,1801,1801,4095,0,0,0,0,0,0,25.68,25.69,25.69,10.11,46.88
$GC,670,1.82,585.0,2903,2151,1799,4095,45.2,13.6,99,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2152,1799,1799,4094,0,0,0,0,0,0,25.83,25.84,25.84,10.11,47.32
$GC,711,1.82,585.0,2903,2151,1798,4094,39.6,14.2,105,718,0.00,1.17,0.00,0.000,516,0.000,0.044,2904,1712,1798,1798,4094,0,0,0,0,0,0,25.95,25.54,25.96,10.10,47.44
$GC,801,1.82,585.0,2903,1711,1795,4094,27.7,12.8,119,808,0.00,1.00,0.00,0.000,1030,0.000,0.030,2904,2119,1795,1795,4094,0,0,0,0,0,0,25.84,25.81,25.87,10.09,47.71
$GC,842,1.82,585.0,2903,2119,1794,4094,22.5,12.3,125,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2119,1794,1794,4094,0,0,0,0,0,0,26.20,26.21,26.20,10.10,48.66
$GC,883,1.82,585.0,2903,2118,1793,4094,18.0,10.8,131,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2119,1793,1793,4094,0,0,0,0,0,0,26.25,26.26,26.26,10.13,48.85
$GC,924,1.97,688.0,2903,2119,1792,4094,14.3,9.3,137,937,0.45,0.00,6.68,0.601,10246,0.031,0.000,2955,2119,1681,1681,4094,0,0,0,0,0,0,26.04,25.52,24.63,10.15,50.59
$GC,971,1.97,688.0,2954,2119,1680,4094,9.0,11.4,144,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2119,1680,1680,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.15,51.33
$GC,1012,1.97,688.0,2954,2118,1679,4094,4.2,11.8,150,1018,0.00,1.08,0.00,0.000,516,0.000,0.049,2955,1716,1678,1678,4094,0,0,0,0,0,0,26.30,25.84,26.31,10.16,52.55
$STATE,1030,end climb,FINISH_DEPTH_REACHED
$STATE,1030,begin subsurface finish
$FINISH1,1.3,1.024150,101
$GC,1044,0.15,101.1,2955,2137,1678,4094,1.3,12.3,153,1063,5.82,1.15,-6.18,0.000,20996,0.022,1.236,2389,1709,2370,2370,4094,0,0,0,0,0,0,26.06,24.20,26.08,10.16,52.48
$FINISH2,0.0
$STATE,1064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1064,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,031219
$TT8_MAMPS,0.026215,0.109354
$HUMID,53.07
$INTERNAL_PRESSURE,10.2481
$TCM_TEMP,4.00
$XPDR_PINGS,0
$24V_AH,23.70,60.336
$10V_AH,10.35,55.951
$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,25.000,8.775,73.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,400.022,238.601,149.554,226.958,112.949,0.000,320.498,0.000,235.681,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,1237.770,1316.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,10895,156
$CAP_FILE_SIZE,25851,0
$CFSIZE,1024409600,917815296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,043004,6010.188,-17322.990,9,0.8,28,7.2,0.3,177.9,11,4.7