version: 66.13
glider: 401
mission: 22
dive: 2120
start: 9 2 117 1 42 45
data:
$ID,401
$MISSION,22
$DIVE,2120
$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,27
$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
$GPS1,020917,012158,6007.8970,-17313.0000,6,0.8,28,7.3,0.3,3.2,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-2.8
$GPS2,020917,012158,6007.8970,-17313.0000,6,0.8,28,7.3,0.3,3.2,11,4.9
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,104.4,106384,-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,-585.0,2389,1939,2368,4092,0.0,0.0,0,29,6.45,0.00,-7.80,0.000,20486,0.022,0.000,1758,1940,3170,3170,4095,0,0,0,0,0,0,26.20,24.33,26.25,10.37,52.48
$GC,35,-1.82,-585.0,1758,1939,3170,4095,-0.0,-0.3,2,43,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1940,3170,3170,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.55,52.87
$GC,82,-1.82,-585.0,1757,1939,3171,4094,5.6,-14.3,8,91,0.00,1.05,0.00,0.000,516,0.000,0.050,1758,1524,3171,3171,4094,0,0,0,0,0,0,26.48,26.03,26.49,10.54,52.75
$GC,150,-1.82,-585.0,1757,1524,3173,4094,18.0,-18.3,17,158,0.00,1.00,0.00,0.000,1030,0.000,0.028,1758,1949,3174,3174,4095,0,0,0,0,0,0,26.22,26.21,26.29,10.55,52.55
$GC,199,-1.82,-585.0,1757,1949,3175,4095,25.4,-14.1,23,209,0.00,1.10,0.00,0.000,260,0.000,0.046,1758,2370,3175,3175,4095,0,0,0,0,0,0,26.54,26.07,26.55,10.53,52.28
$GC,287,-1.82,-585.0,1757,2370,3177,4095,36.6,-13.0,35,297,0.00,0.95,0.00,0.000,1030,0.000,0.028,1758,1986,3177,3177,4094,0,0,0,0,0,0,26.29,26.26,26.30,10.47,50.27
$GC,336,-1.82,-585.0,1757,1986,3178,4094,42.8,-12.6,41,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1987,3178,3178,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.45,50.00
$GC,384,-1.82,-585.0,1757,1986,3179,4095,49.1,-13.7,47,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1987,3180,3180,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.44,48.62
$GC,432,-1.82,-585.0,1757,1986,3181,4094,55.8,-13.7,53,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1987,3181,3181,4095,0,0,0,0,0,0,26.63,26.64,26.64,10.43,48.42
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,474,-0.45,0.0,1758,2139,3182,4095,60.8,-13.9,57,518,4.60,0.00,33.42,1.347,10244,0.052,0.000,2186,2139,2484,2484,4095,0,0,0,0,0,0,26.17,25.20,24.06,10.43,48.62
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,524,1.82,585.0,2186,2139,2484,4095,64.8,0.0,62,569,7.68,0.00,33.40,1.300,11270,0.030,0.000,2904,2139,1803,1803,4094,0,0,0,0,0,0,25.53,25.71,23.65,10.28,47.32
$GC,610,1.82,585.0,2903,2138,1801,4094,58.5,12.1,72,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1801,1801,4094,0,0,0,0,0,0,25.51,25.52,25.51,10.13,46.96
$GC,660,1.82,585.0,2903,2138,1800,4094,52.1,12.9,78,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2139,1800,1800,4094,0,0,0,0,0,0,25.75,25.76,25.76,10.13,47.00
$GC,710,1.82,585.0,2903,2138,1798,4094,45.5,13.2,84,719,0.00,1.12,0.00,0.000,516,0.000,0.044,2904,1716,1798,1798,4094,0,0,0,0,0,0,25.91,25.51,25.93,10.11,46.53
$GC,817,1.82,585.0,2904,1716,1795,4094,30.9,13.4,99,827,0.00,1.00,0.00,0.000,1030,0.000,0.028,2904,2127,1794,1794,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.11,47.44
$GC,866,1.82,585.0,2904,2126,1793,4094,24.2,14.3,105,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2127,1792,1792,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.11,47.91
$GC,914,1.82,585.0,2903,2126,1792,4094,18.3,11.8,111,923,0.00,1.15,0.00,0.000,260,0.000,0.053,2904,2556,1791,1791,4094,0,0,0,0,0,0,26.27,25.79,26.28,10.16,48.38
$GC,970,1.82,585.0,2903,2556,1790,4094,12.1,11.2,118,980,0.00,1.10,0.00,0.000,1030,0.000,0.026,2904,2111,1789,1789,4094,0,0,0,0,0,0,26.05,26.04,26.07,10.17,50.66
$GC,1020,1.82,585.0,2903,2111,1788,4094,6.7,10.8,124,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2111,1788,1788,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.19,51.41
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,1.2,1.024090,105
$GC,1077,0.16,105.2,2904,2110,1787,4094,1.2,11.4,130,1095,5.30,0.00,-5.38,0.000,20998,0.028,0.000,2386,2110,2369,2369,4094,0,0,0,0,0,0,26.15,25.44,26.20,10.21,52.55
$FINISH2,-0.0
$STATE,1096,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1096,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,020917,000233
$TT8_MAMPS,0.026215,0.24717
$HUMID,52.52
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.65,61.983
$10V_AH,10.08,57.165
$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,24.025,9.325,66.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,370.885,0.000,120.650,550.017,117.256,0.000,349.213,0.000,323.581,0.000,0.544,0.000
$DEVICE_MAMPS,52.020,52.785,1347.165,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.339,358.577,283.851,420.795,546.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,14290,132
$CAP_FILE_SIZE,24897,0
$CFSIZE,1024409600,915308544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,012158,6007.897,-17313.000,6,0.8,28,7.3,0.3,3.2,11,4.9