version: 66.13
glider: 401
mission: 22
dive: 2328
start: 9 5 117 14 45 26
data:
$ID,401
$MISSION,22
$DIVE,2328
$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,23
$R_STBD_OVSHOOT,30
$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
$GPS1,050917,140626,5957.6387,-17225.6211,5,0.8,39,7.7,0.3,277.5,10,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.7
$GPS2,050917,140626,5957.6387,-17225.6211,5,0.8,39,7.7,0.3,277.5,10,4.7
$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,108.0,16077,-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,11,-1.80,-487.5,2392,1948,2365,4092,0.0,0.0,0,30,6.43,0.00,-6.55,0.000,20486,0.023,0.000,1760,1949,3055,3055,4094,0,0,0,0,0,0,26.25,24.34,26.29,10.35,53.58
$GC,36,-1.80,-487.5,1760,1948,3055,4094,0.0,-0.9,2,46,0.00,1.12,0.00,0.000,260,0.000,0.038,1760,2378,3055,3055,4094,0,0,0,0,0,0,26.42,26.03,26.43,10.50,53.78
$GC,118,-1.80,-487.5,1759,2379,3057,4094,10.1,-17.7,13,127,0.00,1.08,0.00,0.000,1030,0.000,0.031,1760,1949,3058,3058,4095,0,0,0,0,0,0,26.16,26.10,26.19,10.50,53.54
$GC,167,-1.80,-487.5,1759,1949,3059,4095,19.3,-18.9,19,176,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1949,3059,3059,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.51,53.11
$GC,216,-1.80,-487.5,1759,1949,3061,4095,28.2,-18.2,25,224,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1949,3061,3061,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.50,53.03
$GC,263,-1.80,-487.5,1759,1949,3062,4095,34.8,-14.2,31,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1949,3062,3062,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.45,52.20
$GC,311,-1.80,-487.5,1760,1949,3063,4094,41.4,-13.7,37,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1949,3063,3063,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.43,51.10
$GC,359,-1.80,-487.5,1760,1949,3064,4094,48.0,-14.6,43,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1949,3065,3065,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.41,50.39
$STATE,401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,401,begin apogee
$GC,414,-0.45,0.0,1760,2145,3066,4095,55.0,-13.9,49,458,4.60,0.00,28.30,1.247,10244,0.055,0.000,2185,2145,2484,2484,4095,0,0,0,0,0,0,26.14,25.32,24.18,10.40,49.68
$STATE,459,end apogee,CONTROL_FINISHED_OK
$STATE,459,begin climb
$GC,464,1.80,487.5,2185,2145,2484,4095,59.5,0.0,54,508,7.60,0.00,27.77,1.226,11270,0.029,0.000,2901,2145,1921,1921,4094,0,0,0,0,0,0,25.72,25.91,23.80,10.28,48.18
$GC,550,1.80,487.5,2900,2145,1920,4094,53.0,12.0,64,559,0.00,0.00,0.70,0.002,8198,0.000,0.000,2901,2145,1919,1919,4094,0,0,0,0,0,0,25.72,25.71,25.73,10.15,46.69
$GC,600,1.80,487.5,2900,2145,1919,4094,46.7,12.1,70,610,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1710,1919,1919,4094,0,0,0,0,0,0,25.93,25.53,25.94,10.13,47.75
$GC,807,1.95,582.0,2900,1709,1913,4094,22.4,9.4,99,825,0.40,1.00,6.65,0.651,11270,0.027,0.028,2947,2123,1805,1805,4094,0,0,0,0,0,0,26.03,25.98,24.46,10.18,49.48
$GC,867,1.95,582.0,2945,2123,1804,4094,15.6,11.0,106,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2123,1804,1804,4094,0,0,0,0,0,0,26.29,26.32,26.31,10.19,51.53
$GC,915,1.95,582.0,2946,2123,1802,4094,10.1,11.5,112,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2123,1802,1802,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.20,52.59
$GC,965,1.95,582.0,2946,2123,1801,4094,4.2,11.7,118,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2124,1800,1800,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.20,52.95
$STATE,981,end climb,SURFACE_DEPTH_REACHED
$STATE,981,begin surface coast
$FINISH,0.0,1.012465
$STATE,996,end surface coast,CONTROL_FINISHED_OK
$STATE,996,begin surface
$SM_CCo,1105,0.00,0.000,0,0,1800,589.00
$SM_GC,0.93,28.23,0.45,0.00,0.018,0.047,0.000,239,1946,1800,-6.55,1.37,589.00,0,0,0,0,0,0,26.17,26.08,26.21
$IRIDIUM_FIX,5952.82,-17420.78,050917,125112
$TT8_MAMPS,0.025466,0.241178
$HUMID,53.22
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.80,68.073
$10V_AH,10.07,62.063
$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,47.250,5.750,63.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,349.709,60.389,133.921,505.899,125.883,0.000,337.073,0.000,300.256,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,47.430,1246.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.940,331.466,262.273,388.885,503.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10922,122
$CAP_FILE_SIZE,23589,0
$CFSIZE,1024409600,905084928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,150455,5957.543,-17224.533,8,0.9,19,7.7,0.0,0.0,9,4.6