version: 66.13
glider: 401
mission: 22
dive: 2090
start: 9 1 117 13 33 39
data:
$ID,401
$MISSION,22
$DIVE,2090
$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,29
$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
$GPS1,010917,131302,6006.6177,-17319.9082,10,0.9,21,7.2,0.0,303.1,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.5
$GPS2,010917,131302,6006.6177,-17319.9082,10,0.9,21,7.2,0.0,303.1,10,4.9
$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,134.3,1319,-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,-585.0,2386,1947,2373,4092,0.0,0.0,0,30,6.25,0.00,-7.65,0.000,20486,0.023,0.000,1772,1947,3170,3170,4094,0,0,0,0,0,0,26.18,24.32,26.23,10.35,53.62
$GC,36,-1.82,-585.0,1772,1947,3171,4094,0.0,-0.4,2,44,0.00,1.15,0.00,0.000,260,0.000,0.042,1772,2378,3170,3170,4095,0,0,0,0,0,0,26.40,26.02,26.41,10.52,52.99
$GC,277,-1.82,-585.0,1771,2378,3177,4095,35.9,-12.3,37,287,0.00,1.08,0.00,0.000,1030,0.000,0.030,1772,1945,3178,3178,4095,0,0,0,0,0,0,26.25,26.17,26.25,10.46,51.81
$GC,328,-1.82,-585.0,1772,1945,3179,4095,41.9,-12.4,43,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3179,3179,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.44,50.55
$GC,376,-1.82,-585.0,1772,1945,3180,4094,48.0,-12.7,49,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3180,3180,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.44,49.92
$GC,425,-1.82,-585.0,1772,1945,3181,4095,54.3,-12.5,55,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1945,3181,3181,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.42,49.09
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,481,-0.45,0.0,1772,2145,3183,4095,60.5,-12.6,61,525,4.45,0.00,33.80,1.333,10244,0.050,0.000,2186,2145,2482,2482,4094,0,0,0,0,0,0,26.18,25.19,24.08,10.41,48.46
$STATE,526,end apogee,CONTROL_FINISHED_OK
$STATE,526,begin climb
$GC,532,1.82,585.0,2185,2145,2482,4094,64.2,0.0,66,577,7.57,0.00,33.47,1.289,11270,0.030,0.000,2902,2145,1802,1802,4094,0,0,0,0,0,0,25.53,25.71,23.68,10.27,47.59
$GC,618,1.82,585.0,2902,2145,1800,4094,57.3,13.0,76,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1800,1800,4094,0,0,0,0,0,0,25.51,25.52,25.51,10.11,46.73
$GC,667,1.82,585.0,2902,2145,1799,4094,50.4,13.9,82,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2146,1798,1798,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.11,46.77
$GC,716,1.82,585.0,2902,2144,1797,4094,43.7,13.3,88,726,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1715,1797,1797,4094,0,0,0,0,0,0,25.91,25.50,25.92,10.10,47.28
$GC,865,1.82,585.0,2902,1714,1793,4094,24.1,12.3,109,874,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2126,1792,1792,4094,0,0,0,0,0,0,25.92,25.86,25.94,10.11,48.46
$GC,916,1.82,589.5,2902,2126,1791,4094,18.7,10.5,115,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2126,1790,1790,4094,0,0,0,0,0,0,26.27,26.28,26.27,10.15,49.17
$GC,965,1.89,635.4,2903,2126,1789,4094,13.7,10.0,121,975,0.20,0.00,3.95,0.431,10246,0.046,0.000,2932,2126,1742,1742,4094,0,0,0,0,0,0,26.10,25.12,24.52,10.17,51.10
$GC,1016,1.89,635.4,2931,2126,1741,4094,8.1,11.5,127,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2126,1740,1740,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.17,52.32
$GC,1065,1.89,635.4,2931,2126,1739,4094,2.3,11.6,133,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2126,1739,1739,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.18,52.67
$STATE,1082,end climb,FINISH_DEPTH_REACHED
$STATE,1082,begin subsurface finish
$FINISH1,0.1,1.024178,99
$GC,1094,0.15,99.1,2932,2126,1739,4094,0.1,10.6,135,1113,5.40,0.00,-5.80,0.000,20998,0.021,0.000,2400,2126,2373,2373,4094,0,0,0,0,0,0,26.13,25.42,26.17,10.19,52.55
$FINISH2,0.0
$STATE,1114,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1114,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,010917,115455
$TT8_MAMPS,0.026215,0.23968
$HUMID,53.54
$INTERNAL_PRESSURE,10.2579
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.68,61.023
$10V_AH,10.10,56.462
$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,23.875,5.350,71.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,387.427,0.000,109.360,572.570,107.094,0.000,327.957,0.000,334.702,0.000,0.543,0.000
$DEVICE_MAMPS,50.490,43.605,1332.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.157,372.285,294.538,436.804,570.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,14352,137
$CAP_FILE_SIZE,22652,0
$CFSIZE,1024409600,916783104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,131302,6006.618,-17319.908,10,0.9,21,7.2,0.0,303.1,10,4.9