version: 66.13
glider: 401
mission: 22
dive: 2165
start: 9 2 117 19 56 36
data:
$ID,401
$MISSION,22
$DIVE,2165
$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,24
$R_STBD_OVSHOOT,31
$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
$GPS1,020917,193508,6006.2754,-17257.9492,6,0.8,13,7.4,0.7,277.6,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-3.0
$GPS2,020917,193508,6006.2754,-17257.9492,6,0.8,13,7.4,0.7,277.6,10,4.9
$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,105.8,92270,-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,12,-1.82,-585.0,2385,1950,2371,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.023,0.000,1832,1950,2370,2370,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.38,50.82
$GC,25,-1.82,-585.0,1832,1950,2370,4094,0.1,0.0,1,39,0.50,1.23,-7.47,0.000,20996,0.034,1.244,1773,1524,3170,3170,4094,0,0,0,0,0,0,26.17,24.27,26.20,10.38,51.65
$GC,209,-1.82,-585.0,1772,1523,3175,4094,25.7,-16.7,30,215,0.00,1.00,0.00,0.000,1030,0.000,0.024,1773,1954,3175,3175,4095,0,0,0,0,0,0,26.25,26.22,26.27,10.57,51.45
$GC,250,-1.82,-585.0,1773,1954,3176,4095,32.0,-15.3,36,257,0.00,1.08,0.00,0.000,260,0.000,0.044,1773,2369,3177,3177,4095,0,0,0,0,0,0,26.53,26.10,26.55,10.55,51.37
$GC,322,-1.82,-585.0,1772,2369,3178,4095,41.5,-12.6,47,328,0.00,1.02,0.00,0.000,1030,0.000,0.028,1773,1957,3178,3178,4095,0,0,0,0,0,0,26.26,26.22,26.27,10.53,50.86
$GC,363,-1.82,-585.0,1772,1957,3179,4095,46.9,-13.5,53,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1957,3179,3179,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.51,50.55
$GC,404,-1.82,-585.0,1772,1957,3181,4094,52.5,-13.9,59,411,0.00,1.10,0.00,0.000,516,0.000,0.049,1773,1520,3180,3180,4095,0,0,0,0,0,0,26.60,26.13,26.62,10.51,49.92
$GC,457,-1.82,-585.0,1772,1520,3182,4095,59.8,-13.4,67,464,0.00,1.00,0.00,0.000,1030,0.000,0.024,1773,1962,3182,3182,4095,0,0,0,0,0,0,26.36,26.35,26.39,10.50,49.37
$STATE,469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,469,begin apogee
$GC,481,-0.45,0.0,1773,2144,3182,4095,62.0,-13.0,69,523,4.28,0.00,33.40,1.282,10244,0.031,0.000,2188,2144,2484,2484,4094,0,0,0,0,0,0,26.27,25.25,24.17,10.49,49.13
$STATE,524,end apogee,CONTROL_FINISHED_OK
$STATE,524,begin climb
$GC,529,1.82,585.0,2188,2144,2484,4094,62.2,0.0,76,577,7.53,1.12,33.03,1.247,10756,0.029,0.041,2905,1713,1802,1802,4094,0,0,0,0,0,0,25.50,25.44,23.76,10.34,48.38
$GC,784,1.82,585.0,2904,1713,1796,4094,34.3,12.1,117,791,0.00,1.00,0.00,0.000,1030,0.000,0.029,2905,2120,1796,1796,4094,0,0,0,0,0,0,25.86,25.82,25.89,10.19,48.70
$GC,826,1.82,585.0,2905,2120,1795,4094,29.5,11.2,123,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2120,1795,1795,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.19,48.97
$GC,866,1.82,585.0,2904,2119,1794,4094,24.7,11.4,129,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2120,1794,1794,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.21,49.52
$GC,907,1.82,585.0,2905,2119,1793,4094,20.3,10.9,135,913,0.00,1.17,0.00,0.000,260,0.000,0.051,2905,2559,1793,1793,4094,0,0,0,0,0,0,26.32,25.85,26.33,10.22,49.84
$GC,960,1.82,585.0,2905,2558,1790,4094,14.3,11.4,143,967,0.00,1.05,0.00,0.000,1030,0.000,0.025,2905,2127,1791,1791,4094,0,0,0,0,0,0,26.11,26.08,26.13,10.24,50.86
$GC,1002,1.82,585.0,2905,2127,1790,4094,9.4,11.6,149,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2127,1790,1790,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.24,51.77
$GC,1043,1.82,585.0,2905,2127,1788,4094,4.8,11.0,155,1049,0.00,1.02,0.00,0.000,516,0.000,0.044,2905,1721,1788,1788,4094,0,0,0,0,0,0,26.44,26.01,26.45,10.24,51.96
$STATE,1067,end climb,FINISH_DEPTH_REACHED
$STATE,1067,begin subsurface finish
$FINISH1,1.6,1.024157,101
$GC,1081,0.15,100.5,2905,2139,1787,4094,1.6,11.3,159,1101,5.25,0.00,-5.20,0.000,20486,0.021,0.000,2391,2140,2373,2373,4094,0,0,0,0,0,0,26.15,24.53,26.21,10.24,51.81
$FINISH2,-0.0
$STATE,1102,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1102,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,020917,192824
$TT8_MAMPS,0.026215,0.109354
$HUMID,52.08
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.76,63.406
$10V_AH,10.37,58.204
$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,23.175,13.750,66.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,416.741,261.548,135.327,233.428,118.149,0.000,308.168,0.000,242.802,0.000,0.542,0.000
$DEVICE_MAMPS,33.660,1243.890,1282.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,10813,161
$CAP_FILE_SIZE,26117,0
$CFSIZE,1024409600,913096704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1087.17,0x236162,5,24
$GPS,020917,193508,6006.275,-17257.949,6,0.8,13,7.4,0.7,277.6,10,4.9