version: 66.13
glider: 401
mission: 22
dive: 2199
start: 9 3 117 10 50 47
data:
$ID,401
$MISSION,22
$DIVE,2199
$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,36
$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
$GPS1,030917,100925,6006.1836,-17248.8984,7,0.8,17,7.5,0.3,92.1,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-1.8
$GPS2,030917,100925,6006.1836,-17248.8984,7,0.8,17,7.5,0.3,92.1,11,4.8
$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,107.9,84510,-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,-585.0,2389,1945,2364,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.021,0.000,1836,1946,2364,2364,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.38,52.04
$GC,25,-1.82,-585.0,1836,1945,2364,4094,0.0,0.0,1,38,0.52,1.17,-7.45,0.000,20996,0.032,1.245,1775,1536,3170,3170,4094,0,0,0,0,0,0,26.17,24.22,26.20,10.38,51.81
$GC,184,-1.82,-585.0,1774,1535,3174,4094,22.2,-17.1,26,191,0.00,0.98,0.00,0.000,1030,0.000,0.026,1775,1953,3175,3175,4095,0,0,0,0,0,0,26.22,26.19,26.24,10.57,52.12
$GC,226,-1.82,-585.0,1774,1953,3175,4095,29.1,-16.5,32,232,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1953,3176,3176,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.57,51.96
$GC,267,-1.82,-585.0,1774,1953,3176,4095,34.6,-12.6,38,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3177,3177,4094,0,0,0,0,0,0,26.55,26.55,26.55,10.54,51.61
$GC,308,-1.82,-585.0,1774,1953,3177,4094,40.0,-13.8,44,314,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1953,3178,3178,4094,0,0,0,0,0,0,26.56,26.58,26.57,10.52,51.22
$GC,349,-1.82,-585.0,1774,1953,3178,4094,45.3,-12.4,50,355,0.00,1.10,0.00,0.000,260,0.000,0.047,1775,2372,3178,3178,4094,0,0,0,0,0,0,26.58,26.10,26.59,10.50,50.43
$GC,408,-1.82,-585.0,1774,2372,3180,4094,52.7,-13.0,59,415,0.00,1.02,0.00,0.000,1030,0.000,0.028,1775,1962,3180,3180,4094,0,0,0,0,0,0,26.28,26.26,26.32,10.49,50.15
$GC,450,-1.82,-585.0,1774,1962,3181,4094,58.1,-13.8,65,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1962,3181,3181,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.48,49.72
$STATE,460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,461,begin apogee
$GC,473,-0.45,0.0,1774,2143,3181,4095,60.3,-13.8,67,515,4.25,0.00,33.28,1.278,10244,0.030,0.000,2188,2144,2483,2483,4094,0,0,0,0,0,0,26.28,25.24,24.13,10.47,49.92
$STATE,516,end apogee,CONTROL_FINISHED_OK
$STATE,516,begin climb
$GC,521,1.82,585.0,2188,2144,2483,4094,60.4,0.0,74,569,7.55,1.10,33.00,1.242,10500,0.029,0.049,2908,2554,1801,1801,4094,0,0,0,0,0,0,25.48,25.43,23.74,10.33,48.07
$GC,580,1.93,662.9,2907,2553,1801,4094,57.0,9.6,83,594,0.28,1.08,5.95,0.858,11270,0.027,0.024,2944,2126,1710,1710,4094,0,0,0,0,0,0,25.15,25.15,23.79,10.18,47.91
$GC,629,1.93,662.9,2943,2126,1709,4094,51.1,13.5,90,636,0.00,1.05,0.00,0.000,516,0.000,0.045,2944,1726,1709,1709,4094,0,0,0,0,0,0,25.62,25.27,25.63,10.16,46.88
$GC,791,1.93,662.9,2943,1725,1704,4094,29.1,12.4,116,798,0.00,0.95,0.00,0.000,1030,0.000,0.029,2944,2116,1703,1703,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.16,48.18
$GC,833,1.93,662.9,2943,2116,1703,4094,24.1,11.6,122,839,0.00,1.20,0.00,0.000,260,0.000,0.052,2944,2561,1703,1703,4094,0,0,0,0,0,0,26.20,25.75,26.22,10.19,49.17
$GC,880,1.93,662.9,2943,2561,1702,4094,18.5,12.3,129,886,0.00,1.02,0.00,0.000,1030,0.000,0.026,2944,2140,1701,1701,4094,0,0,0,0,0,0,26.01,25.98,26.03,10.21,50.98
$GC,922,1.93,662.9,2943,2140,1701,4094,13.3,12.3,135,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2140,1701,1701,4094,0,0,0,0,0,0,26.32,26.33,26.33,10.21,51.89
$GC,962,1.93,662.9,2943,2140,1699,4094,8.3,11.8,141,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2140,1699,1699,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.21,51.53
$GC,1003,1.93,662.9,2943,2140,1697,4094,3.2,12.4,147,1010,0.00,1.05,0.00,0.000,516,0.000,0.046,2944,1723,1697,1697,4094,0,0,0,0,0,0,26.39,25.95,26.41,10.22,52.55
$STATE,1015,end climb,SURFACE_DEPTH_REACHED
$STATE,1015,begin surface coast
$FINISH,0.1,1.008337
$STATE,1028,end surface coast,CONTROL_FINISHED_OK
$STATE,1028,begin surface
$SM_CCo,1136,0.00,0.000,0,0,1696,677.44
$SM_GC,0.70,28.25,0.55,0.00,0.018,0.035,0.000,231,1972,1696,-6.59,-1.28,677.44,0,0,0,0,0,0,25.85,26.14,25.98
$IRIDIUM_FIX,5925.93,-17425.36,030917,085216
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.44
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.74,64.472
$10V_AH,10.37,59.073
$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,46.425,13.225,72.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,400.684,293.193,164.796,219.685,128.734,0.000,330.650,0.000,228.676,0.000,0.543,0.000
$DEVICE_MAMPS,32.130,1245.420,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,100.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330612
$DATA_FILE_SIZE,10788,151
$CAP_FILE_SIZE,28139,0
$CFSIZE,1024409600,911425536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,111043,6006.063,-17248.309,8,1.0,15,7.5,0.0,170.7,9,4.9