version: 66.13
glider: 401
mission: 22
dive: 2193
start: 9 3 117 8 27 27
data:
$ID,401
$MISSION,22
$DIVE,2193
$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,22
$R_STBD_OVSHOOT,28
$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
$GPS1,030917,073740,6006.8916,-17250.3223,6,0.7,14,7.5,0.0,205.7,11,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.0
$GPS2,030917,073740,6006.8916,-17250.3223,6,0.7,14,7.5,0.0,205.7,11,4.5
$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,108.3,86273,-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,12,-1.82,-585.0,2404,1950,2366,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.022,0.000,1849,1950,2366,2366,4094,0,0,0,0,0,0,26.42,28.83,28.83,10.37,52.12
$GC,25,-1.82,-585.0,1848,1949,2366,4094,0.0,0.0,1,39,0.70,1.23,-7.65,0.000,20996,0.031,1.242,1774,1520,3172,3172,4095,0,0,0,0,0,0,26.11,24.20,26.14,10.37,52.36
$GC,197,-1.82,-585.0,1773,1520,3176,4095,22.0,-16.9,28,203,0.00,1.02,0.00,0.000,1030,0.000,0.027,1774,1953,3176,3176,4095,0,0,0,0,0,0,26.20,26.17,26.22,10.55,52.40
$GC,238,-1.82,-585.0,1773,1953,3177,4095,27.9,-12.7,34,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1953,3178,3178,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.54,52.83
$GC,279,-1.82,-585.0,1773,1953,3178,4095,33.5,-14.2,40,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1954,3179,3179,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.52,52.00
$GC,320,-1.82,-585.0,1773,1953,3180,4095,39.0,-13.6,46,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1954,3179,3179,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.50,51.37
$GC,361,-1.82,-585.0,1773,1954,3181,4094,44.2,-12.8,52,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1954,3181,3181,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.49,51.14
$GC,402,-1.82,-585.0,1773,1954,3181,4095,50.0,-14.8,58,408,0.00,1.10,0.00,0.000,260,0.000,0.046,1773,2374,3182,3182,4095,0,0,0,0,0,0,26.58,26.10,26.60,10.48,50.39
$GC,449,-1.82,-585.0,1773,2374,3183,4095,56.9,-14.2,65,456,0.00,1.08,0.00,0.000,1030,0.000,0.029,1773,1939,3183,3183,4095,0,0,0,0,0,0,26.25,26.21,26.28,10.47,49.80
$STATE,467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,467,begin apogee
$GC,480,-0.45,0.0,1773,2152,3183,4094,60.2,-14.3,68,521,4.30,0.00,33.53,1.284,10244,0.034,0.000,2188,2149,2483,2483,4094,0,0,0,0,0,0,26.22,25.21,24.11,10.46,49.76
$STATE,522,end apogee,CONTROL_FINISHED_OK
$STATE,522,begin climb
$GC,528,1.82,585.0,2188,2148,2483,4094,60.5,0.0,75,575,7.62,0.00,33.17,1.248,11270,0.030,0.000,2905,2149,1803,1803,4094,0,0,0,0,0,0,25.55,25.72,23.72,10.32,49.25
$GC,610,1.82,585.0,2904,2148,1802,4094,54.6,11.1,88,617,0.00,1.15,0.00,0.000,516,0.000,0.044,2905,1720,1802,1802,4094,0,0,0,0,0,0,25.52,25.17,25.53,10.17,47.20
$GC,754,1.82,585.0,2905,1719,1797,4094,37.9,12.2,111,761,0.00,0.98,0.00,0.000,1030,0.000,0.029,2905,2116,1797,1797,4094,0,0,0,0,0,0,25.77,25.73,25.79,10.17,48.58
$GC,796,1.82,585.0,2905,2116,1796,4094,32.3,13.8,117,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2116,1796,1796,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.17,49.37
$GC,837,1.82,585.0,2905,2116,1795,4094,26.6,13.8,123,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2116,1795,1795,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.17,49.33
$GC,877,1.82,585.0,2905,2116,1794,4094,21.0,12.9,129,884,0.00,1.20,0.00,0.000,260,0.000,0.052,2905,2564,1793,1793,4094,0,0,0,0,0,0,26.25,25.77,26.26,10.20,50.66
$GC,925,1.82,585.0,2905,2564,1792,4094,15.4,11.5,136,932,0.00,1.08,0.00,0.000,1030,0.000,0.026,2905,2126,1792,1792,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.21,51.77
$GC,967,1.82,585.0,2905,2126,1790,4094,10.7,11.1,142,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2126,1790,1790,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.21,51.61
$GC,1008,1.82,585.0,2905,2126,1789,4094,6.0,11.5,148,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2126,1789,1789,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.22,52.83
$STATE,1043,end climb,SURFACE_DEPTH_REACHED
$STATE,1043,begin surface coast
$FINISH,0.1,1.024121
$STATE,1056,end surface coast,CONTROL_FINISHED_OK
$STATE,1056,begin surface
$SM_CCo,1164,0.00,0.000,0,0,1787,599.30
$SM_GC,0.91,27.67,0.40,0.00,0.017,0.037,0.000,239,1953,1787,-6.55,1.69,599.30,0,0,0,0,0,0,26.15,26.17,26.19
$IRIDIUM_FIX,5925.93,-17425.36,030917,055216
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.20
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.72,64.285
$10V_AH,10.35,58.935
$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,45.925,11.325,66.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,410.436,308.534,161.023,227.429,128.194,0.000,329.375,0.000,235.700,0.000,0.543,0.000
$DEVICE_MAMPS,33.660,1242.360,1284.435,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,104.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330688
$DATA_FILE_SIZE,10901,156
$CAP_FILE_SIZE,27292,0
$CFSIZE,1024409600,911720448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,084748,6006.483,-17249.393,8,0.8,13,7.5,0.0,0.0,10,4.9