version: 66.13
glider: 401
mission: 22
dive: 2229
start: 9 4 117 0 25 21
data:
$ID,401
$MISSION,22
$DIVE,2229
$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,500
$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,17
$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
$GPS1,030917,234352,6005.6997,-17248.9688,7,0.8,15,7.5,0.6,316.4,11,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-1.2
$GPS2,030917,234352,6005.6997,-17248.9688,7,0.8,15,7.5,0.6,316.4,11,5.0
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$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,113.7,42285,-11.5,-10.526,-14.94,6951
$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,-1.78,-487.5,2388,1952,2366,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,4097,0.018,0.000,1840,1952,2366,2366,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.38,51.61
$GC,24,-1.78,-487.5,1839,1952,2366,4094,0.2,0.0,1,38,0.45,1.23,-6.38,0.000,20996,0.035,1.242,1790,1512,3056,3056,4094,0,0,0,0,0,0,26.15,24.22,26.17,10.38,51.81
$GC,162,-1.78,-487.5,1789,1512,3059,4094,16.0,-16.5,22,168,0.00,1.05,0.00,0.000,1030,0.000,0.027,1789,1953,3060,3060,4094,0,0,0,0,0,0,26.18,26.16,26.20,10.54,51.26
$GC,203,-1.78,-487.5,1789,1953,3061,4094,23.3,-15.9,28,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1953,3061,3061,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.53,51.77
$GC,244,-1.78,-487.5,1789,1953,3062,4095,29.0,-14.2,34,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1953,3062,3062,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.52,51.29
$GC,285,-1.78,-487.5,1789,1953,3062,4095,34.7,-13.7,40,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1953,3063,3063,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.50,50.82
$GC,326,-1.78,-487.5,1789,1953,3064,4095,40.4,-13.5,46,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1953,3064,3064,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.50,50.51
$GC,367,-1.78,-487.5,1789,1953,3065,4095,46.3,-14.3,52,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,1953,3065,3065,4095,0,0,0,0,0,0,26.58,26.58,26.59,10.49,50.31
$GC,407,-1.78,-487.5,1789,1953,3066,4095,51.8,-12.4,58,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1953,3066,3066,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.48,50.19
$GC,448,-1.78,-487.5,1789,1953,3067,4095,57.0,-12.9,64,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,1954,3067,3067,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.46,49.29
$STATE,466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,466,begin apogee
$GC,478,-0.45,0.0,1790,2146,3067,4095,60.0,-12.8,67,514,4.07,0.00,28.12,1.245,10244,0.030,0.000,2190,2149,2484,2484,4094,0,0,0,0,0,0,26.27,25.36,24.25,10.45,49.44
$STATE,515,end apogee,CONTROL_FINISHED_OK
$STATE,515,begin climb
$GC,521,1.78,487.5,2189,2149,2484,4094,60.8,0.0,73,563,7.35,1.17,27.80,1.223,10756,0.030,0.041,2892,1697,1915,1915,4094,0,0,0,0,0,0,25.61,25.56,23.87,10.33,48.89
$GC,634,1.78,487.5,2892,1697,1914,4094,51.9,12.2,90,640,0.00,1.08,0.00,0.000,1030,0.000,0.027,2893,2132,1914,1914,4094,0,0,0,0,0,0,25.57,25.55,25.60,10.20,46.92
$GC,675,1.78,487.5,2892,2131,1913,4094,46.1,12.8,96,682,0.00,1.17,0.00,0.000,260,0.000,0.052,2893,2565,1913,1913,4094,0,0,0,0,0,0,25.98,25.55,25.99,10.21,47.67
$GC,723,1.78,487.5,2892,2565,1912,4094,40.1,12.3,103,730,0.00,1.08,0.00,0.000,1030,0.000,0.026,2893,2131,1911,1911,4094,0,0,0,0,0,0,25.84,25.81,25.86,10.21,47.99
$GC,765,1.78,487.5,2892,2130,1911,4094,35.3,11.6,109,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,1910,1910,4094,0,0,0,0,0,0,26.17,26.20,26.19,10.21,48.66
$GC,806,1.78,487.5,2892,2130,1909,4094,30.4,11.8,115,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,1909,1909,4095,0,0,0,0,0,0,26.24,26.25,26.25,10.21,49.25
$GC,847,1.78,487.5,2892,2129,1907,4095,25.4,12.5,121,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2130,1908,1908,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.22,49.64
$GC,887,1.78,487.5,2892,2130,1907,4094,20.6,11.8,127,894,0.00,1.05,0.00,0.000,516,0.000,0.047,2893,1719,1907,1907,4094,0,0,0,0,0,0,26.34,25.89,26.35,10.24,50.00
$GC,1031,1.78,487.5,2892,1719,1903,4094,4.5,11.5,150,1038,0.00,1.02,0.00,0.000,1030,0.000,0.028,2893,2143,1902,1902,4094,0,0,0,0,0,0,26.15,26.12,26.18,10.26,51.89
$STATE,1049,end climb,SURFACE_DEPTH_REACHED
$STATE,1049,begin surface coast
$FINISH,0.4,1.024111
$STATE,1063,end surface coast,CONTROL_FINISHED_OK
$STATE,1063,begin surface
$SM_CCo,1170,0.00,0.000,0,0,1901,501.42
$SM_GC,0.88,27.45,0.47,0.00,0.018,0.039,0.000,239,1955,1901,-6.55,1.64,501.42,0,0,0,0,0,0,26.23,26.17,26.26
$IRIDIUM_FIX,5953.71,-17808.45,030917,233556
$TT8_MAMPS,0.024717,0.104111
$HUMID,52.20
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.87,65.340
$10V_AH,10.36,59.867
$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,44.925,10.250,55.925,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,411.344,307.549,155.449,225.914,139.693,0.000,322.980,0.000,234.291,0.000,0.542,0.000
$DEVICE_MAMPS,35.190,1241.595,1245.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10817,155
$CAP_FILE_SIZE,27804,0
$CFSIZE,1024409600,909950976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,004554,6005.894,-17249.043,9,0.8,18,7.5,0.4,305.0,10,4.9