version: 66.13
glider: 401
mission: 22
dive: 2313
start: 9 5 117 8 59 11
data:
$ID,401
$MISSION,22
$DIVE,2313
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$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,17
$T_MISSION,30
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,050917,082105,5959.3242,-17227.5195,6,0.8,20,7.7,0.3,245.6,10,5.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.5
$GPS2,050917,082105,5959.3242,-17227.5195,6,0.8,20,7.7,0.3,245.6,10,5.0
$SPEED_LIMITS,0.231,0.398
$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,114.1,19128,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,-1.80,-487.5,2386,1949,2370,4092,0.0,0.0,0,25,6.38,0.00,-4.68,0.000,20482,0.023,0.000,1763,1949,2873,2873,4095,0,0,0,0,0,0,26.15,28.83,26.17,10.36,53.46
$GC,32,-1.80,-487.5,1763,1948,2873,4095,0.0,-0.3,2,38,0.00,0.00,-1.70,0.000,16390,0.000,0.000,1763,1949,3057,3057,4094,0,0,0,0,0,0,26.43,24.46,26.39,10.46,52.99
$GC,73,-1.80,-487.5,1762,1949,3057,4094,3.4,-11.5,8,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3058,3058,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.51,53.03
$GC,114,-1.80,-487.5,1762,1949,3059,4094,10.1,-16.9,14,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3059,3059,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.51,53.46
$GC,155,-1.80,-487.5,1762,1949,3060,4094,17.4,-17.6,20,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3060,3060,4094,0,0,0,0,0,0,26.46,26.47,26.46,10.51,52.59
$GC,196,-1.80,-487.5,1762,1949,3062,4094,24.8,-18.0,26,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3062,3062,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.52,52.99
$GC,237,-1.80,-487.5,1762,1948,3063,4094,31.5,-14.6,32,243,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3063,3063,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.47,52.28
$GC,278,-1.80,-487.5,1763,1948,3064,4095,37.1,-13.5,38,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3064,3064,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.45,51.41
$GC,320,-1.80,-487.5,1762,1948,3065,4095,43.0,-14.1,44,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3065,3065,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.43,50.43
$GC,361,-1.80,-487.5,1763,1948,3066,4095,48.7,-13.9,50,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3066,3066,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.42,50.55
$GC,402,-1.80,-487.5,1763,1948,3067,4095,54.6,-14.3,56,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3067,3067,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.40,49.56
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,412,begin apogee
$GC,425,-0.45,0.0,1763,2148,3068,4095,56.9,-14.5,58,462,4.55,0.00,28.27,1.258,10246,0.054,0.000,2185,2148,2484,2484,4094,0,0,0,0,0,0,26.12,25.30,24.15,10.40,48.93
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,468,1.80,487.5,2184,2148,2484,4094,60.7,0.0,64,510,7.57,0.00,28.00,1.235,10502,0.030,0.000,2902,2148,1915,1915,4095,0,0,0,0,0,0,25.67,24.53,23.80,10.28,48.26
$GC,546,1.80,487.5,2901,2147,1915,4095,54.7,12.1,76,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2148,1914,1914,4094,0,0,0,0,0,0,25.65,25.66,25.65,10.15,47.08
$GC,587,1.80,487.5,2901,2147,1913,4094,49.3,13.3,82,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2148,1913,1913,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.14,47.59
$GC,628,1.80,487.5,2901,2148,1912,4094,43.8,13.1,88,635,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1716,1912,1912,4094,0,0,0,0,0,0,25.98,25.57,25.98,10.14,47.87
$GC,830,1.85,515.4,2901,1716,1906,4094,19.1,10.4,120,837,0.00,1.02,3.03,0.317,9222,0.000,0.028,2902,2136,1882,1882,4094,0,0,0,0,0,0,26.03,25.99,24.29,10.19,51.26
$GC,873,1.90,554.5,2901,2135,1881,4094,14.7,10.2,126,881,0.25,0.00,3.85,0.417,10246,0.041,0.000,2937,2136,1837,1837,4094,0,0,0,0,0,0,26.13,25.44,24.46,10.20,52.32
$GC,916,1.90,554.5,2937,2136,1835,4094,9.8,11.9,132,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2136,1835,1835,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.20,52.71
$GC,957,1.90,554.5,2936,2136,1834,4094,4.8,11.7,138,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2136,1834,1834,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.21,53.18
$STATE,975,end climb,SURFACE_DEPTH_REACHED
$STATE,975,begin surface coast
$FINISH,0.5,1.024141
$STATE,988,end surface coast,CONTROL_FINISHED_OK
$STATE,988,begin surface
$SM_CCo,1096,0.00,0.000,0,0,1832,559.81
$SM_GC,0.91,28.08,0.47,0.00,0.019,0.042,0.000,239,1949,1832,-6.55,1.46,559.81,0,0,0,0,0,0,26.17,26.09,26.20
$IRIDIUM_FIX,5953.06,-17035.79,050917,081431
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.01
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.80,67.664
$10V_AH,10.33,61.724
$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,46.825,3.625,63.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,383.488,277.544,157.092,208.968,139.434,0.000,317.974,0.000,217.380,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,43.605,1258.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330588
$DATA_FILE_SIZE,10883,143
$CAP_FILE_SIZE,26481,0
$CFSIZE,1024409600,905822208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,091851,5958.818,-17226.770,13,0.7,38,7.7,0.2,256.6,11,4.3