version: 66.13
glider: 401
mission: 22
dive: 2325
start: 9 5 117 13 36 44
data:
$ID,401
$MISSION,22
$DIVE,2325
$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,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
$GPS1,050917,125728,5957.7017,-17226.3184,5,0.8,21,7.7,0.0,289.4,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.3
$GPS2,050917,125728,5957.7017,-17226.3184,5,0.8,21,7.7,0.0,289.4,10,4.9
$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,107.4,16712,-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,-487.5,2391,1938,2363,4092,0.0,0.0,0,30,6.40,0.00,-6.47,0.000,20486,0.024,0.000,1764,1939,3057,3057,4094,0,0,0,0,0,0,26.17,24.35,26.19,10.36,52.91
$GC,37,-1.80,-487.5,1764,1939,3057,4094,0.1,-0.8,3,43,0.00,1.17,0.00,0.000,260,0.000,0.039,1764,2384,3057,3057,4095,0,0,0,0,0,0,26.36,25.98,26.37,10.51,52.83
$GC,126,-1.80,-487.5,1764,2384,3060,4095,13.4,-17.7,17,133,0.00,1.08,0.00,0.000,1030,0.000,0.030,1764,1952,3060,3060,4095,0,0,0,0,0,0,26.12,26.08,26.15,10.51,53.11
$GC,168,-1.80,-487.5,1764,1951,3061,4095,21.2,-18.8,23,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3061,3061,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.52,52.79
$GC,209,-1.80,-487.5,1764,1952,3062,4094,29.0,-19.2,29,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3063,3063,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.51,52.75
$GC,250,-1.80,-487.5,1764,1952,3065,4095,34.8,-13.6,35,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3064,3064,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.47,52.12
$GC,291,-1.80,-487.5,1764,1952,3065,4094,40.2,-12.8,41,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3065,3065,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.45,52.04
$GC,333,-1.80,-487.5,1764,1952,3066,4095,45.7,-13.7,47,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3066,3066,4094,0,0,0,0,0,0,26.58,26.59,26.58,10.43,50.43
$GC,374,-1.80,-487.5,1764,1952,3067,4094,51.6,-14.2,53,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3067,3067,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.42,50.47
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,410,-0.45,0.0,1764,2145,3068,4094,55.6,-13.8,57,446,4.55,0.00,28.30,1.248,10244,0.055,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.13,25.31,24.15,10.41,49.40
$STATE,447,end apogee,CONTROL_FINISHED_OK
$STATE,448,begin climb
$GC,453,1.80,487.5,2185,2145,2484,4094,59.6,0.0,63,495,7.57,0.00,27.95,1.225,11270,0.029,0.000,2901,2145,1916,1916,4094,0,0,0,0,0,0,25.67,25.86,23.80,10.28,49.01
$GC,530,1.80,487.5,2900,2145,1915,4094,53.8,12.3,75,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1915,1915,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.16,47.32
$GC,572,1.80,487.5,2900,2145,1914,4094,48.3,13.0,81,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2145,1913,1913,4094,0,0,0,0,0,0,25.85,25.86,25.86,10.15,47.71
$GC,613,1.80,487.5,2900,2145,1912,4094,42.9,13.1,87,620,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1715,1912,1912,4094,0,0,0,0,0,0,25.98,25.58,25.99,10.14,47.67
$GC,780,1.87,532.5,2900,1714,1908,4094,22.5,10.1,113,789,0.12,1.00,3.92,0.465,11270,0.046,0.028,2924,2128,1862,1862,4094,0,0,0,0,0,0,25.94,25.96,24.32,10.19,50.51
$GC,824,1.87,532.5,2923,2126,1861,4094,17.4,11.1,119,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2127,1861,1861,4095,0,0,0,0,0,0,26.31,26.32,26.32,10.20,51.53
$GC,866,1.87,532.5,2924,2127,1860,4095,12.7,11.6,125,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2127,1860,1860,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.21,52.32
$GC,907,1.87,532.5,2923,2127,1859,4094,8.1,11.1,131,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2127,1859,1859,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.22,52.63
$GC,948,1.87,532.5,2923,2127,1857,4094,3.2,12.0,137,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2127,1857,1857,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.22,53.11
$STATE,958,end climb,SURFACE_DEPTH_REACHED
$STATE,958,begin surface coast
$FINISH,0.1,1.024188
$STATE,972,end surface coast,CONTROL_FINISHED_OK
$STATE,972,begin surface
$SM_CCo,1081,0.00,0.000,0,0,1857,540.06
$SM_GC,1.00,28.05,0.45,0.00,0.018,0.041,0.000,231,1953,1857,-6.59,1.41,540.06,0,0,0,0,0,0,25.96,26.11,26.06
$IRIDIUM_FIX,5953.06,-17035.79,050917,124932
$TT8_MAMPS,0.025466,0.104111
$HUMID,53.50
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.80,67.993
$10V_AH,10.33,61.987
$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,46.700,5.800,60.175,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.358,277.681,156.159,205.833,135.242,0.000,314.476,0.000,214.311,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,44.370,1247.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10832,141
$CAP_FILE_SIZE,25911,0
$CFSIZE,1024409600,905232384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,135554,5957.614,-17225.574,12,0.7,23,7.7,0.0,13.7,11,4.9