version: 66.13
glider: 401
mission: 22
dive: 2175
start: 9 2 117 23 52 49
data:
$ID,401
$MISSION,22
$DIVE,2175
$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,42
$R_STBD_OVSHOOT,32
$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
$GPS1,020917,231132,6007.3286,-17258.5859,7,0.8,17,7.4,0.0,339.3,11,4.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-1.3
$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,-585.0,2334,1939,2492,4092,0.0,0.0,0,25,5.70,0.00,-5.47,0.000,20482,0.019,0.000,1768,1940,3079,3079,4095,0,0,0,0,0,0,26.24,28.83,26.28,10.40,52.24
$GC,31,-1.82,-585.0,1768,1939,3079,4095,0.2,-3.7,2,38,0.00,1.08,-0.82,0.000,16900,0.000,1.239,1769,1536,3171,3171,4095,0,0,0,0,0,0,26.51,24.28,26.40,10.54,52.00
$GC,186,-1.82,-585.0,1768,1536,3175,4095,22.0,-17.0,26,193,0.00,0.98,0.00,0.000,1030,0.000,0.028,1768,1944,3175,3175,4094,0,0,0,0,0,0,26.25,26.22,26.26,10.56,51.53
$GC,228,-1.82,-585.0,1767,1944,3176,4094,29.5,-14.8,32,234,0.00,1.12,0.00,0.000,260,0.000,0.046,1768,2375,3177,3177,4095,0,0,0,0,0,0,26.54,26.09,26.55,10.54,51.73
$GC,293,-1.82,-585.0,1767,2375,3178,4095,39.2,-13.6,42,300,0.00,1.00,0.00,0.000,1030,0.000,0.028,1768,1975,3178,3178,4094,0,0,0,0,0,0,26.29,26.26,26.30,10.52,51.61
$GC,335,-1.82,-585.0,1768,1975,3179,4094,44.6,-13.5,48,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1975,3179,3179,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.51,51.06
$GC,376,-1.82,-585.0,1768,1974,3180,4095,50.1,-13.4,54,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1975,3181,3181,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.49,50.47
$GC,416,-1.82,-585.0,1767,1975,3181,4095,56.0,-14.8,60,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1975,3182,3182,4095,0,0,0,0,0,0,26.63,26.64,26.63,10.49,49.72
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,446,begin apogee
$GC,458,-0.45,0.0,1768,2150,3183,4094,60.9,-13.4,65,500,4.30,0.00,33.22,1.288,10244,0.030,0.000,2190,2150,2484,2484,4094,0,0,0,0,0,0,26.30,25.25,24.15,10.48,49.64
$STATE,501,end apogee,CONTROL_FINISHED_OK
$STATE,501,begin climb
$GC,506,1.82,585.0,2189,2150,2484,4094,61.1,0.0,72,554,7.47,1.08,33.05,1.248,10500,0.025,0.047,2902,2557,1803,1803,4094,0,0,0,0,0,0,25.50,25.45,23.76,10.33,49.01
$GC,636,1.82,585.0,2902,2557,1800,4094,49.9,13.9,92,642,0.00,1.08,0.00,0.000,1030,0.000,0.024,2903,2121,1801,1801,4094,0,0,0,0,0,0,25.60,25.57,25.61,10.18,47.95
$GC,678,1.82,585.0,2903,2121,1798,4094,43.9,12.4,98,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,1799,1799,4094,0,0,0,0,0,0,25.96,25.97,25.97,10.18,47.95
$GC,718,1.82,585.0,2903,2121,1798,4094,38.8,12.1,104,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,1798,1798,4094,0,0,0,0,0,0,26.06,26.08,26.08,10.18,48.03
$GC,759,1.82,585.0,2902,2121,1796,4094,33.8,12.1,110,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2121,1796,1796,4094,0,0,0,0,0,0,26.15,26.17,26.16,10.18,48.62
$GC,800,1.83,593.3,2903,2121,1796,4094,29.4,10.4,116,807,0.00,1.00,0.00,0.000,516,0.000,0.045,2903,1727,1795,1795,4094,0,0,0,0,0,0,26.22,25.81,26.22,10.19,49.09
$GC,884,1.89,633.7,2902,1727,1794,4094,21.1,10.0,129,892,0.15,1.00,4.05,0.475,11270,0.041,0.028,2930,2140,1744,1744,4094,0,0,0,0,0,0,26.01,26.01,24.47,10.22,50.15
$GC,927,1.89,633.7,2929,2140,1743,4094,16.4,11.0,135,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2140,1742,1742,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.22,51.49
$GC,968,1.89,633.7,2929,2140,1741,4094,11.6,11.6,141,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2140,1741,1741,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.23,52.55
$GC,1009,1.89,633.7,2929,2140,1740,4094,6.8,12.2,147,1015,0.00,1.08,0.00,0.000,516,0.000,0.044,2930,1726,1740,1740,4094,0,0,0,0,0,0,26.41,25.98,26.42,10.23,52.40
$STATE,1051,end climb,SURFACE_DEPTH_REACHED
$STATE,1051,begin surface coast
$FINISH,0.0,1.024091
$STATE,1064,end surface coast,CONTROL_FINISHED_OK
$STATE,1064,begin surface
$SM_CCo,1172,0.00,0.000,0,0,1738,641.37
$SM_GC,0.88,27.88,0.55,0.00,0.018,0.031,0.000,239,1983,1738,-6.55,-1.32,641.37,0,0,0,0,0,0,26.21,26.22,26.24
$IRIDIUM_FIX,5925.93,-17425.36,020917,215431
$TT8_MAMPS,0.025466,0.108605
$HUMID,53.03
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.76,63.715
$10V_AH,10.37,58.431
$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,45.500,10.750,70.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,413.102,310.380,160.812,226.515,131.961,0.000,328.285,0.000,235.668,0.000,0.543,0.000
$DEVICE_MAMPS,41.310,1239.300,1288.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330764
$DATA_FILE_SIZE,10823,156
$CAP_FILE_SIZE,28035,0
$CFSIZE,1024409600,912605184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,001331,6007.807,-17258.016,4,0.8,25,7.4,0.5,301.1,10,4.4