version: 66.13
glider: 401
mission: 22
dive: 2173
start: 9 2 117 23 12 11
data:
$ID,401
$MISSION,22
$DIVE,2173
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,020917,230107,6007.2295,-17258.4648,5,0.8,15,7.4,0.3,76.9,11,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-37.2
$GPS2,020917,231132,6007.3286,-17258.5859,7,0.8,17,7.4,0.0,339.3,11,4.7
$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,106.8,93598,-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,-585.0,230,1949,1767,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.089,0.000,708,1950,1767,1767,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.29,50.66
$GC,25,-1.82,-585.0,707,1950,1767,4094,0.6,0.0,1,56,11.15,1.25,-12.95,0.000,19204,0.041,1.229,1753,2371,3171,3171,4095,0,0,0,0,0,0,25.95,24.02,26.02,10.28,51.26
$GC,73,-1.82,-585.0,1752,2372,3171,4095,-0.0,0.1,8,79,0.00,1.08,0.00,0.000,1030,0.000,0.033,1753,1952,3171,3171,4095,0,0,0,0,0,0,25.95,25.91,25.98,10.60,51.22
$GC,114,-1.82,-585.0,1752,1951,3172,4095,4.7,-13.0,14,121,0.00,1.10,0.00,0.000,516,0.000,0.050,1753,1519,3172,3172,4095,0,0,0,0,0,0,26.32,25.86,26.33,10.59,50.74
$GC,264,-1.82,-585.0,1753,1518,3177,4095,30.1,-17.1,38,271,0.00,1.02,0.00,0.000,1030,0.000,0.026,1753,1952,3177,3177,4094,0,0,0,0,0,0,26.18,26.16,26.20,10.58,50.00
$GC,306,-1.82,-585.0,1752,1952,3178,4094,36.4,-14.7,44,312,0.00,1.12,0.00,0.000,260,0.000,0.045,1753,2382,3178,3178,4095,0,0,0,0,0,0,26.49,26.03,26.50,10.57,49.88
$GC,371,-1.82,-585.0,1753,2382,3179,4095,45.2,-13.3,54,378,0.00,1.10,0.00,0.000,1030,0.000,0.030,1753,1943,3180,3180,4095,0,0,0,0,0,0,26.20,26.16,26.23,10.53,49.40
$GC,413,-1.82,-585.0,1753,1942,3180,4095,51.0,-14.0,60,419,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1943,3181,3181,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.53,49.33
$GC,453,-1.82,-585.0,1753,1942,3182,4095,57.5,-15.8,66,459,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1942,3182,3182,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.51,48.62
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,477,-0.45,0.0,1753,2150,3182,4095,60.1,-16.4,68,518,4.47,0.00,33.42,1.280,10244,0.031,0.000,2189,2150,2484,2484,4094,0,0,0,0,0,0,26.23,25.20,24.11,10.51,48.54
$STATE,519,end apogee,CONTROL_FINISHED_OK
$STATE,519,begin climb
$GC,525,1.82,585.0,2189,2151,2484,4094,61.6,0.0,75,573,7.57,1.10,33.17,1.249,10500,0.030,0.049,2904,2563,1802,1802,4094,0,0,0,0,0,0,25.45,25.39,23.75,10.37,47.79
$GC,649,1.82,585.0,2905,2563,1800,4094,50.9,12.2,94,655,0.00,1.08,0.00,0.000,1030,0.000,0.028,2905,2144,1800,1800,4094,0,0,0,0,0,0,25.51,25.48,25.56,10.21,46.57
$GC,690,1.82,585.0,2905,2144,1799,4094,45.0,13.0,100,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2144,1798,1798,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.20,47.36
$GC,731,1.82,585.0,2904,2144,1797,4094,39.5,13.8,106,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2144,1796,1796,4094,0,0,0,0,0,0,26.04,26.06,26.05,10.20,46.92
$GC,771,1.82,585.0,2905,2143,1796,4094,34.4,12.2,112,778,0.00,1.10,0.00,0.000,516,0.000,0.044,2905,1712,1796,1796,4094,0,0,0,0,0,0,26.13,25.72,26.14,10.21,47.63
$GC,855,1.82,585.0,2905,1711,1794,4094,25.0,10.9,125,862,0.00,1.02,0.00,0.000,1030,0.000,0.028,2905,2135,1794,1794,4095,0,0,0,0,0,0,25.98,25.94,26.03,10.23,48.77
$GC,897,1.82,585.0,2905,2135,1793,4095,20.3,11.3,131,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2135,1793,1793,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.24,49.60
$GC,937,1.82,585.0,2905,2134,1791,4094,15.7,11.3,137,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2135,1791,1791,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.25,50.43
$GC,978,1.82,585.0,2905,2135,1790,4094,11.0,11.3,143,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2135,1790,1790,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.25,51.45
$GC,1019,1.82,585.0,2905,2135,1789,4094,6.3,11.6,149,1025,0.00,1.10,0.00,0.000,516,0.000,0.043,2905,1713,1788,1788,4094,0,0,0,0,0,0,26.43,25.99,26.44,10.26,51.45
$STATE,1055,end climb,FINISH_DEPTH_REACHED
$STATE,1055,begin subsurface finish
$FINISH1,1.7,1.024109,104
$GC,1069,0.16,103.9,2905,2143,1787,4094,1.7,11.2,155,1083,5.22,0.00,-5.10,0.000,20486,0.021,0.000,2388,2144,2368,2368,4095,0,0,0,0,0,0,26.20,24.48,26.25,10.26,52.08
$FINISH2,0.1
$STATE,1084,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1084,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,020917,215431
$TT8_MAMPS,0.026215,0.161784
$HUMID,51.96
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.75,63.666
$10V_AH,10.23,58.390
$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,34.050,13.675,66.600,0.000,0.000,26.314,26.629,280.234,0.000,0.000,18.395,411.700,236.266,157.534,523.185,384.845,0.000,337.612,0.000,238.792,0.000,0.544,0.000
$DEVICE_MAMPS,88.740,1228.590,1279.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.030,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329348
$DATA_FILE_SIZE,10891,157
$CAP_FILE_SIZE,32231,0
$CFSIZE,1024409600,912703488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020917,231132,6007.329,-17258.586,7,0.8,17,7.4,0.0,339.3,11,4.7