version: 66.13
glider: 401
mission: 22
dive: 2177
start: 9 3 117 0 44 14
data:
$ID,401
$MISSION,22
$DIVE,2177
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,030917,002330,6007.8774,-17258.0605,7,0.8,16,7.4,0.4,323.6,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.0
$GPS2,030917,002330,6007.8774,-17258.0605,7,0.8,16,7.4,0.4,323.6,10,4.7
$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,107.5,93575,-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,-585.0,2390,1950,2365,4092,0.0,0.0,0,25,6.40,0.00,-4.65,0.000,20482,0.020,0.000,1758,1950,2874,2874,4094,0,0,0,0,0,0,26.18,28.83,26.20,10.39,51.81
$GC,31,-1.82,-585.0,1757,1950,2874,4094,0.0,-1.2,2,38,0.00,0.00,-2.62,0.000,16390,0.000,0.000,1758,1950,3172,3172,4095,0,0,0,0,0,0,26.44,24.58,26.43,10.50,51.69
$GC,73,-1.82,-585.0,1757,1950,3173,4095,4.8,-15.6,8,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3173,3173,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.57,51.89
$GC,113,-1.82,-585.0,1756,1950,3174,4094,12.2,-18.0,14,119,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3174,3174,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.57,51.85
$GC,154,-1.82,-585.0,1757,1950,3175,4095,19.7,-18.4,20,160,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3176,3176,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.57,51.89
$GC,195,-1.82,-585.0,1757,1950,3177,4095,27.5,-19.4,26,201,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3177,3177,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.56,51.18
$GC,235,-1.82,-585.0,1757,1950,3178,4094,34.0,-15.3,32,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1951,3178,3178,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.53,51.26
$GC,276,-1.82,-585.0,1757,1950,3179,4095,40.6,-16.2,38,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3180,3180,4094,0,0,0,0,0,0,26.56,26.57,26.56,10.52,50.35
$GC,317,-1.82,-585.0,1757,1950,3180,4094,46.9,-15.4,44,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3180,3180,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.51,49.96
$GC,358,-1.82,-585.0,1757,1950,3182,4095,53.0,-15.0,50,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1951,3182,3182,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.50,49.64
$GC,399,-1.82,-585.0,1757,1950,3183,4094,59.1,-15.2,56,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3183,3183,4094,0,0,0,0,0,0,26.61,26.63,26.62,10.49,49.21
$STATE,409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,409,begin apogee
$GC,422,-0.45,0.0,1757,2136,3183,4095,61.0,-13.7,58,463,4.40,0.00,33.35,1.278,10246,0.029,0.000,2190,2136,2484,2484,4094,0,0,0,0,0,0,26.28,25.24,24.14,10.49,49.13
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,470,1.82,585.0,2190,2136,2484,4094,61.1,0.0,65,518,7.53,1.12,33.17,1.244,10500,0.029,0.040,2905,2572,1800,1800,4094,0,0,0,0,0,0,25.58,24.50,23.77,10.35,48.58
$GC,605,1.82,585.0,2904,2571,1797,4094,48.5,13.0,86,611,0.00,1.08,0.00,0.000,1030,0.000,0.024,2905,2136,1797,1797,4094,0,0,0,0,0,0,25.61,25.58,25.63,10.19,47.59
$GC,647,1.82,585.0,2904,2135,1796,4094,42.4,14.1,92,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2136,1796,1796,4095,0,0,0,0,0,0,25.97,25.98,25.98,10.18,47.48
$GC,688,1.82,585.0,2904,2135,1795,4095,36.6,13.4,98,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2136,1795,1795,4094,0,0,0,0,0,0,26.08,26.09,26.09,10.19,47.99
$GC,728,1.82,585.0,2904,2135,1794,4094,31.2,13.2,104,735,0.00,1.05,0.00,0.000,516,0.000,0.044,2905,1726,1794,1794,4094,0,0,0,0,0,0,26.16,25.75,26.17,10.18,48.85
$GC,854,1.82,585.0,2904,1725,1790,4094,16.3,10.9,124,860,0.00,1.02,0.00,0.000,1030,0.000,0.029,2905,2147,1790,1790,4094,0,0,0,0,0,0,26.04,26.01,26.06,10.23,50.11
$GC,895,1.82,585.0,2904,2147,1789,4094,11.7,11.2,130,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2147,1788,1788,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.24,51.18
$GC,936,1.82,585.0,2904,2146,1788,4094,7.0,11.5,136,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2147,1787,1787,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.24,52.12
$GC,977,1.82,585.0,2905,2146,1786,4094,2.4,10.9,142,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2147,1786,1786,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.25,51.85
$STATE,988,end climb,FINISH_DEPTH_REACHED
$STATE,988,begin subsurface finish
$FINISH1,0.9,1.024089,105
$GC,1001,0.16,105.3,2905,2147,1786,4094,0.9,10.1,144,1014,5.22,0.00,-5.15,0.000,20998,0.021,0.000,2390,2148,2366,2366,4094,0,0,0,0,0,0,26.17,24.49,26.22,10.25,52.00
$FINISH2,0.0
$STATE,1015,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1016,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,020917,230533
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.87
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.77,63.782
$10V_AH,10.37,58.479
$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,23.550,5.150,66.525,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,378.019,212.280,147.522,213.050,127.339,0.000,315.090,0.000,221.474,0.000,0.543,0.000
$DEVICE_MAMPS,29.070,47.430,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.788,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330644
$DATA_FILE_SIZE,10854,146
$CAP_FILE_SIZE,25581,0
$CFSIZE,1024409600,912506880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,002330,6007.877,-17258.061,7,0.8,16,7.4,0.4,323.6,10,4.7