version: 66.13
glider: 401
mission: 22
dive: 2130
start: 9 2 117 5 39 20
data:
$ID,401
$MISSION,22
$DIVE,2130
$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,30
$R_STBD_OVSHOOT,25
$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
$GPS1,020917,045858,6008.0088,-17307.8594,7,0.7,15,7.3,0.0,38.2,12,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-1.6
$GPS2,020917,045858,6008.0088,-17307.8594,7,0.7,15,7.3,0.0,38.2,12,4.7
$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,105.5,102029,-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,-585.0,2389,1968,2369,4092,0.0,0.0,0,30,6.45,0.00,-7.72,0.000,20486,0.022,0.000,1757,1968,3171,3171,4095,0,0,0,0,0,0,26.22,24.34,26.26,10.35,53.22
$GC,36,-1.82,-585.0,1757,1968,3171,4095,0.0,-1.3,2,45,0.00,1.10,0.00,0.000,260,0.000,0.041,1757,2383,3172,3172,4095,0,0,0,0,0,0,26.42,26.03,26.43,10.52,54.17
$GC,124,-1.82,-585.0,1757,2382,3174,4095,14.0,-17.7,14,133,0.00,1.08,0.00,0.000,1030,0.000,0.030,1757,1956,3175,3175,4095,0,0,0,0,0,0,26.17,26.13,26.23,10.52,53.58
$GC,174,-1.82,-585.0,1757,1955,3176,4095,23.2,-19.3,20,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1956,3176,3176,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.52,53.03
$GC,223,-1.82,-585.0,1757,1955,3177,4094,30.6,-13.9,26,231,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1956,3177,3177,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.49,52.48
$GC,271,-1.82,-585.0,1757,1955,3178,4095,37.4,-14.5,32,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1956,3179,3179,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.47,51.81
$GC,319,-1.82,-585.0,1756,1955,3181,4094,44.3,-13.7,38,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1956,3180,3180,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.45,50.86
$GC,369,-1.82,-585.0,1757,1955,3181,4094,51.1,-13.9,44,378,0.00,1.15,0.00,0.000,260,0.000,0.047,1757,2383,3181,3181,4094,0,0,0,0,0,0,26.60,26.10,26.61,10.42,50.11
$GC,424,-1.82,-585.0,1756,2383,3183,4094,59.3,-14.5,51,433,0.00,1.10,0.00,0.000,1030,0.000,0.030,1757,1943,3183,3183,4094,0,0,0,0,0,0,26.27,26.25,26.30,10.42,49.68
$STATE,441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,441,begin apogee
$GC,454,-0.45,0.0,1756,2152,3183,4094,62.5,-14.3,53,498,4.45,0.00,33.70,1.330,10244,0.031,0.000,2189,2152,2484,2484,4094,0,0,0,0,0,0,26.28,25.19,24.07,10.42,49.13
$STATE,499,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,504,1.82,585.0,2189,2152,2484,4094,64.2,0.0,58,549,7.65,0.00,33.47,1.288,11270,0.029,0.000,2903,2152,1802,1802,4095,0,0,0,0,0,0,25.53,25.71,23.66,10.27,48.30
$GC,590,1.82,585.0,2902,2151,1801,4095,58.0,11.2,68,600,0.00,1.20,0.00,0.000,516,0.000,0.044,2903,1710,1801,1801,4094,0,0,0,0,0,0,25.51,25.17,25.52,10.12,47.32
$GC,706,1.82,585.0,2903,1709,1797,4094,43.7,11.5,84,716,0.00,1.00,0.00,0.000,1030,0.000,0.030,2903,2115,1797,1797,4094,0,0,0,0,0,0,25.70,25.65,25.71,10.10,47.20
$GC,756,1.82,585.0,2903,2114,1796,4094,37.5,12.3,90,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2114,1796,1796,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.11,47.75
$GC,806,1.82,585.0,2902,2114,1795,4094,31.6,11.8,96,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2114,1794,1794,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.12,48.50
$GC,855,1.82,585.0,2903,2114,1794,4094,25.8,11.6,102,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,1793,1793,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.13,48.77
$GC,905,1.82,590.3,2903,2114,1792,4094,20.5,10.5,108,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2114,1792,1792,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.17,50.35
$GC,954,1.82,590.3,2903,2114,1790,4094,15.1,10.9,114,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2114,1790,1790,4094,0,0,0,0,0,0,26.34,26.35,26.34,10.19,52.12
$GC,1004,1.82,590.3,2903,2114,1789,4094,9.5,11.4,120,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,1789,1789,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.19,51.92
$GC,1053,1.82,590.3,2903,2114,1788,4094,3.8,11.7,126,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2115,1787,1787,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.20,52.28
$STATE,1069,end climb,SURFACE_DEPTH_REACHED
$STATE,1069,begin surface coast
$FINISH,0.1,1.024137
$STATE,1084,end surface coast,CONTROL_FINISHED_OK
$STATE,1085,begin surface
$SM_CCo,1192,0.00,0.000,0,0,1786,599.30
$SM_GC,0.71,27.90,0.43,0.00,0.019,0.041,0.000,230,1945,1786,-6.59,1.28,599.30,0,0,0,0,0,0,26.04,26.13,26.10
$IRIDIUM_FIX,5925.93,-17425.36,020917,034131
$TT8_MAMPS,0.025466,0.232939
$HUMID,52.59
$INTERNAL_PRESSURE,10.1504
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.66,62.288
$10V_AH,10.11,57.395
$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,46.450,8.000,67.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,382.224,60.158,144.795,543.849,131.458,0.000,372.751,0.000,317.937,0.000,0.543,0.000
$DEVICE_MAMPS,30.600,47.430,1329.570,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.012,353.197,279.535,414.329,540.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330760
$DATA_FILE_SIZE,14364,130
$CAP_FILE_SIZE,26351,0
$CFSIZE,1024409600,914817024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,060046,6007.734,-17306.209,4,1.0,49,7.3,0.2,107.1,8,3.0