version: 66.13
glider: 401
mission: 22
dive: 2331
start: 9 5 117 16 47 15
data:
$ID,401
$MISSION,22
$DIVE,2331
$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,2088.1152
$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,29
$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
$GPS1,050917,160745,5957.6899,-17224.1211,5,0.8,29,7.7,0.5,190.1,11,5.0
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-4.0
$GPS2,050917,160745,5957.6899,-17224.1211,5,0.8,29,7.7,0.5,190.1,11,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,103.4,57061,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,2390,1942,2359,4092,0.0,0.0,0,31,6.35,0.00,-6.43,0.000,20486,0.020,0.000,1768,1943,3055,3055,4094,0,0,0,0,0,0,26.10,24.37,26.13,10.37,53.54
$GC,37,-1.80,-487.5,1768,1942,3055,4094,0.2,-1.8,3,43,0.00,1.15,0.00,0.000,260,0.000,0.039,1768,2377,3055,3055,4095,0,0,0,0,0,0,26.36,25.99,26.38,10.51,53.15
$GC,127,-1.80,-487.5,1768,2377,3058,4095,13.9,-19.2,17,133,0.00,1.08,0.00,0.000,1030,0.000,0.032,1768,1950,3058,3058,4095,0,0,0,0,0,0,26.14,26.08,26.16,10.52,53.22
$GC,168,-1.80,-487.5,1767,1950,3060,4095,21.6,-18.9,23,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,1950,3060,3060,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.52,53.22
$GC,209,-1.80,-487.5,1767,1950,3061,4094,29.1,-18.1,29,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1951,3061,3061,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.50,53.26
$GC,251,-1.80,-487.5,1767,1951,3062,4095,34.5,-13.4,35,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,3062,3062,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.46,52.24
$GC,292,-1.80,-487.5,1767,1950,3063,4095,39.9,-12.9,41,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1951,3063,3063,4095,0,0,0,0,0,0,26.56,26.58,26.57,10.44,51.06
$GC,333,-1.80,-487.5,1767,1950,3064,4095,45.4,-13.2,47,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,3064,3064,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.42,50.66
$GC,374,-1.80,-487.5,1767,1950,3065,4094,51.0,-14.0,53,380,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,1950,3066,3066,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.41,49.64
$STATE,398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,398,begin apogee
$GC,411,-0.45,0.0,1767,2141,3066,4094,55.2,-14.2,57,447,4.53,0.00,28.10,1.231,10244,0.054,0.000,2186,2141,2484,2484,4095,0,0,0,0,0,0,26.13,25.34,24.20,10.41,50.03
$STATE,448,end apogee,CONTROL_FINISHED_OK
$STATE,448,begin climb
$GC,454,1.80,487.5,2186,2141,2484,4095,58.9,0.0,63,495,7.57,0.00,27.83,1.210,11270,0.030,0.000,2899,2141,1915,1915,4094,0,0,0,0,0,0,25.70,25.88,23.84,10.28,48.42
$GC,531,1.80,487.5,2898,2141,1914,4094,53.2,12.1,75,537,0.00,1.15,0.00,0.000,516,0.000,0.044,2899,1716,1913,1913,4094,0,0,0,0,0,0,25.69,25.32,25.70,10.16,47.91
$GC,663,1.80,487.5,2899,1715,1910,4094,36.1,12.7,96,670,0.00,1.00,0.00,0.000,1030,0.000,0.030,2899,2123,1910,1910,4094,0,0,0,0,0,0,25.84,25.82,25.87,10.14,48.54
$GC,705,1.80,487.5,2898,2123,1908,4094,30.8,12.6,102,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2124,1908,1908,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.13,47.83
$GC,746,1.80,487.5,2899,2123,1907,4095,25.9,11.1,108,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2123,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.17,48.77
$GC,788,1.91,557.1,2898,2123,1907,4094,22.0,9.7,114,796,0.30,0.00,5.18,0.570,10246,0.037,0.000,2940,2123,1834,1834,4094,0,0,0,0,0,0,26.08,25.44,24.44,10.20,50.27
$GC,831,1.91,557.1,2938,2123,1832,4094,17.4,11.0,120,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2123,1832,1832,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.20,51.57
$GC,872,1.91,557.1,2938,2123,1831,4094,12.3,12.5,126,879,0.00,1.10,0.00,0.000,516,0.000,0.047,2939,1707,1831,1831,4094,0,0,0,0,0,0,26.36,25.90,26.37,10.21,52.87
$STATE,957,end climb,SURFACE_DEPTH_REACHED
$STATE,957,begin surface coast
$FINISH,0.0,1.020341
$STATE,970,end surface coast,CONTROL_FINISHED_OK
$STATE,970,begin surface
$SM_CCo,1018,78.57,0.660,0,0,50,2088.12
$SM_GC,0.42,28.10,0.60,78.57,0.018,0.034,0.660,239,1960,50,-6.55,-1.46,2088.12,0,0,0,0,0,0,26.19,26.15,24.39
$IRIDIUM_FIX,5953.06,-17035.79,050917,155553
$TT8_MAMPS,0.025466,0.103362
$HUMID,51.73
$INTERNAL_PRESSURE,9.82815
$TCM_TEMP,4.20
$XPDR_PINGS,0
$24V_AH,23.84,68.318
$10V_AH,10.36,62.155
$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,46.850,7.075,61.100,78.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.666,223.668,231.705,207.415,130.818,0.000,389.112,0.000,215.958,0.000,0.542,0.000
$DEVICE_MAMPS,53.550,46.665,1230.885,660.195,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10739,142
$CAP_FILE_SIZE,26809,0
$CFSIZE,1024409600,904773632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,170702,5957.553,-17222.643,8,0.9,37,7.7,0.2,61.4,9,4.7