version: 66.13
glider: 401
mission: 22
dive: 2166
start: 9 2 117 20 17 3
data:
$ID,401
$MISSION,22
$DIVE,2166
$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,23
$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
$GPS1,020917,193508,6006.2754,-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,-1.7
$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,5,begin dive
$GC,11,-1.82,-585.0,2391,1960,2373,4092,0.0,0.0,0,29,6.45,0.00,-7.53,0.000,20486,0.020,0.000,1758,1961,3170,3170,4095,0,0,0,0,0,0,26.15,24.35,26.20,10.38,52.28
$GC,35,-1.82,-585.0,1758,1961,3170,4095,0.0,-0.5,2,43,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1961,3170,3170,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.55,52.28
$GC,83,-1.82,-585.0,1758,1960,3171,4095,6.5,-16.0,8,91,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1961,3172,3172,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.56,52.28
$GC,131,-1.82,-585.0,1758,1961,3174,4095,15.0,-17.6,14,139,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1961,3173,3173,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.56,51.85
$GC,179,-1.82,-585.0,1758,1960,3175,4095,23.5,-18.0,20,188,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1961,3175,3175,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.56,52.16
$GC,227,-1.82,-585.0,1758,1961,3176,4094,31.1,-15.2,26,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1961,3176,3176,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.54,51.85
$GC,275,-1.82,-585.0,1757,1961,3177,4095,37.9,-14.5,32,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1961,3178,3178,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.53,51.73
$GC,323,-1.82,-585.0,1757,1960,3179,4095,45.2,-15.2,38,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1961,3179,3179,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.51,51.18
$GC,370,-1.82,-585.0,1757,1961,3180,4094,52.5,-15.5,44,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1961,3181,3181,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.51,50.00
$GC,418,-1.82,-585.0,1757,1961,3181,4095,59.6,-14.9,50,427,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1961,3181,3181,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.49,49.48
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,447,-0.45,0.0,1758,2163,3182,4094,62.2,-13.2,52,491,4.43,0.00,33.22,1.283,10246,0.030,0.000,2190,2163,2487,2487,4095,0,0,0,0,0,0,26.29,24.91,24.16,10.49,49.21
$STATE,492,end apogee,CONTROL_FINISHED_OK
$STATE,492,begin climb
$GC,497,1.82,585.0,2189,2163,2487,4095,62.3,0.0,57,543,7.75,1.25,33.38,1.252,10756,0.030,0.045,2915,1708,1802,1802,4094,0,0,0,0,0,0,25.56,24.81,23.76,10.34,48.42
$GC,803,1.82,585.0,2915,1708,1794,4094,28.1,13.5,100,813,0.00,1.00,0.00,0.000,1030,0.000,0.028,2916,2120,1794,1794,4094,0,0,0,0,0,0,25.95,25.94,26.01,10.20,49.33
$GC,852,1.82,585.0,2915,2119,1793,4094,22.1,11.8,106,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2120,1792,1792,4094,0,0,0,0,0,0,26.29,26.30,26.30,10.22,50.00
$GC,899,1.82,585.0,2915,2119,1791,4094,16.6,11.4,112,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2120,1791,1791,4094,0,0,0,0,0,0,26.34,26.36,26.35,10.23,50.59
$GC,947,1.82,585.0,2915,2119,1790,4094,11.1,11.8,118,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2120,1789,1789,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.24,51.57
$GC,994,1.82,585.0,2915,2119,1788,4094,5.3,12.1,124,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2120,1788,1788,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.24,51.65
$STATE,1019,end climb,SURFACE_DEPTH_REACHED
$STATE,1019,begin surface coast
$FINISH,0.2,1.024148
$STATE,1034,end surface coast,CONTROL_FINISHED_OK
$STATE,1034,begin surface
$SM_CCo,1141,0.00,0.000,0,0,1786,600.16
$SM_GC,0.70,27.77,0.45,0.00,0.018,0.049,0.000,239,1949,1786,-6.55,1.23,600.16,0,0,0,0,0,0,26.20,26.10,26.23
$IRIDIUM_FIX,5952.82,-17420.78,020917,192824
$TT8_MAMPS,0.025466,0.242676
$HUMID,51.77
$INTERNAL_PRESSURE,10.1895
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.76,63.430
$10V_AH,10.14,58.234
$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,46.400,3.625,66.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,357.000,59.719,133.733,539.108,122.788,0.000,344.821,0.000,317.613,0.000,0.543,0.000
$DEVICE_MAMPS,29.835,48.960,1282.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.610,350.454,277.366,411.027,536.749,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330736
$DATA_FILE_SIZE,10918,129
$CAP_FILE_SIZE,23181,0
$CFSIZE,1024409600,913047552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,203705,6006.378,-17258.088,5,0.9,16,7.4,0.5,269.9,9,4.7