version: 66.13
glider: 401
mission: 22
dive: 2319
start: 9 5 117 11 17 29
data:
$ID,401
$MISSION,22
$DIVE,2319
$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,30
$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
$GPS1,050917,103913,5958.3057,-17226.6289,5,0.9,18,7.7,0.5,191.1,10,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.7
$GPS2,050917,103913,5958.3057,-17226.6289,5,0.9,18,7.7,0.5,191.1,10,4.9
$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,110.3,17470,-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,-487.5,2389,1942,2369,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.021,0.000,1829,1943,2368,2368,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.37,52.95
$GC,26,-1.80,-487.5,1829,1942,2369,4094,0.0,0.0,1,38,0.45,0.00,-6.47,0.000,20486,0.035,0.000,1776,1943,3055,3055,4095,0,0,0,0,0,0,26.16,25.54,26.18,10.36,52.24
$GC,73,-1.80,-487.5,1775,1943,3055,4095,3.3,-12.0,8,80,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3056,3056,4095,0,0,0,0,0,0,26.39,26.41,26.41,10.51,52.99
$GC,115,-1.80,-487.5,1775,1943,3057,4095,9.9,-16.4,14,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3057,3057,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.52,52.48
$GC,156,-1.80,-487.5,1775,1943,3058,4095,16.7,-16.6,20,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3058,3058,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.52,52.28
$GC,197,-1.80,-487.5,1776,1943,3060,4094,23.7,-16.9,26,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3060,3060,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.52,52.36
$GC,238,-1.80,-487.5,1775,1943,3062,4095,30.6,-16.8,32,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3061,3061,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.49,52.12
$GC,279,-1.80,-487.5,1775,1942,3062,4095,36.3,-13.2,38,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3062,3062,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.46,51.57
$GC,320,-1.80,-487.5,1775,1943,3063,4095,41.8,-13.1,44,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3063,3063,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.43,51.26
$GC,361,-1.80,-487.5,1775,1943,3064,4095,47.3,-13.3,50,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3064,3064,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.43,49.80
$GC,402,-1.80,-487.5,1775,1943,3065,4094,53.1,-14.0,56,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1943,3066,3066,4094,0,0,0,0,0,0,26.60,26.60,26.60,10.41,48.89
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,426,-0.45,0.0,1775,2146,3066,4095,55.5,-14.3,58,462,4.40,0.00,28.20,1.241,10246,0.054,0.000,2185,2146,2483,2483,4095,0,0,0,0,0,0,26.13,25.31,24.18,10.41,49.09
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,469,1.80,487.5,2184,2146,2483,4095,59.1,0.0,64,511,7.60,0.00,27.90,1.219,10246,0.030,0.000,2901,2147,1915,1915,4094,0,0,0,0,0,0,25.67,24.55,23.82,10.28,48.14
$GC,546,1.80,487.5,2900,2146,1914,4094,53.4,12.4,76,553,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1719,1914,1914,4095,0,0,0,0,0,0,25.66,25.30,25.67,10.15,46.73
$GC,678,1.80,487.5,2900,1719,1911,4095,37.0,12.5,97,685,0.00,1.02,0.00,0.000,1030,0.000,0.029,2901,2136,1911,1911,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.14,47.75
$GC,720,1.80,487.5,2900,2135,1909,4094,31.7,12.2,103,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2136,1909,1909,4094,0,0,0,0,0,0,26.18,26.20,26.20,10.15,48.66
$GC,762,1.98,603.9,2900,2135,1908,4094,27.8,9.0,109,775,0.50,0.00,7.62,0.724,10246,0.029,0.000,2958,2136,1779,1779,4094,0,0,0,0,0,0,26.01,25.41,24.41,10.19,49.48
$GC,810,1.98,603.9,2958,2135,1777,4094,22.3,12.2,116,817,0.00,1.10,0.00,0.000,516,0.000,0.046,2958,1720,1778,1778,4094,0,0,0,0,0,0,26.20,25.77,26.21,10.18,50.43
$GC,906,1.98,603.9,2958,1720,1775,4094,9.9,12.8,131,913,0.00,1.00,0.00,0.000,1030,0.000,0.031,2959,2129,1775,1775,4094,0,0,0,0,0,0,26.03,25.98,26.05,10.20,52.48
$GC,948,1.98,603.9,2958,2128,1773,4094,4.6,12.7,137,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2129,1773,1773,4095,0,0,0,0,0,0,26.37,26.39,26.39,10.21,52.79
$STATE,965,end climb,SURFACE_DEPTH_REACHED
$STATE,965,begin surface coast
$FINISH,0.0,1.001691
$STATE,978,end surface coast,CONTROL_FINISHED_OK
$STATE,979,begin surface
$SM_CCo,1087,0.00,0.000,0,0,1772,612.18
$SM_GC,0.93,28.27,0.45,0.00,0.018,0.037,0.000,240,1935,1772,-6.55,1.41,612.18,0,0,0,0,0,0,26.15,26.12,26.19
$IRIDIUM_FIX,5952.82,-17420.78,050917,092501
$TT8_MAMPS,0.025466,0.111601
$HUMID,53.03
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.82,67.828
$10V_AH,10.33,61.855
$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,46.850,5.700,63.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.666,274.696,160.776,207.530,134.938,0.000,321.737,0.000,215.962,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,45.900,1240.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.734,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,10777,142
$CAP_FILE_SIZE,26761,0
$CFSIZE,1024409600,905527296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,113651,5957.866,-17226.383,7,0.8,29,7.7,0.3,241.9,10,5.0