version: 66.13
glider: 401
mission: 22
dive: 2333
start: 9 5 117 17 51 57
data:
$ID,401
$MISSION,22
$DIVE,2333
$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,28
$R_STBD_OVSHOOT,27
$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
$GPS1,050917,172511,5957.5610,-17222.4453,5,0.8,17,7.7,0.4,55.1,10,4.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-4.9
$GPS2,050917,172511,5957.5610,-17222.4453,5,0.8,17,7.7,0.4,55.1,10,4.7
$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,103.7,55518,-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,-487.5,2391,1947,2366,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.021,0.000,1836,1948,2366,2366,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.37,53.11
$GC,26,-1.80,-487.5,1835,1947,2366,4094,0.0,0.0,1,38,0.50,0.00,-6.43,0.000,20486,0.031,0.000,1777,1947,3054,3054,4094,0,0,0,0,0,0,26.20,25.56,26.22,10.38,52.95
$GC,74,-1.80,-487.5,1776,1947,3055,4094,1.6,-6.6,8,80,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3055,3055,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.52,52.16
$GC,115,-1.80,-487.5,1776,1947,3056,4095,7.6,-15.7,14,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3056,3056,4094,0,0,0,0,0,0,26.45,26.47,26.46,10.53,52.87
$GC,156,-1.80,-487.5,1776,1947,3057,4094,14.7,-18.2,20,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3058,3058,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.53,52.16
$GC,197,-1.80,-487.5,1776,1947,3059,4095,22.1,-18.2,26,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3059,3059,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.53,52.16
$GC,238,-1.80,-487.5,1776,1947,3060,4095,28.9,-15.9,32,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3060,3060,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.50,51.73
$GC,279,-1.80,-487.5,1776,1947,3061,4095,34.2,-13.2,38,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1947,3061,3061,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.46,51.29
$GC,320,-1.80,-487.5,1776,1947,3062,4095,39.6,-13.5,44,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,1947,3062,3062,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.45,50.31
$GC,361,-1.80,-487.5,1777,1947,3063,4094,45.2,-13.9,50,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1947,3063,3063,4095,0,0,0,0,0,0,26.59,26.61,26.61,10.43,49.72
$GC,402,-1.80,-487.5,1776,1947,3064,4095,51.0,-13.8,56,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1947,3064,3064,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.42,49.13
$STATE,432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,432,begin apogee
$GC,445,-0.45,0.0,1776,2146,3065,4094,55.7,-13.4,61,481,4.43,0.00,28.17,1.240,10246,0.053,0.000,2187,2147,2484,2484,4094,0,0,0,0,0,0,26.15,25.34,24.20,10.41,48.62
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,488,1.80,487.5,2186,2146,2484,4094,59.6,0.0,67,530,7.55,1.15,27.77,1.217,10756,0.030,0.043,2900,1714,1916,1916,4094,0,0,0,0,0,0,25.71,24.59,23.84,10.30,47.95
$GC,648,1.80,487.5,2899,1714,1912,4094,42.5,13.3,92,654,0.00,1.05,0.00,0.000,1030,0.000,0.029,2900,2138,1912,1912,4094,0,0,0,0,0,0,25.73,25.70,25.76,10.15,47.44
$GC,690,1.80,487.5,2899,2137,1911,4094,37.3,12.4,98,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2138,1911,1911,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.14,47.55
$GC,731,1.80,487.5,2899,2137,1910,4094,32.0,12.7,104,737,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2138,1910,1910,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.14,47.55
$GC,772,1.80,487.5,2899,2138,1908,4094,26.4,13.5,110,779,0.00,1.12,0.00,0.000,516,0.000,0.046,2900,1713,1908,1908,4094,0,0,0,0,0,0,26.26,25.82,26.27,10.14,48.11
$GC,850,1.83,502.9,2899,1712,1907,4094,17.9,10.6,122,858,0.00,1.02,2.35,0.151,9222,0.000,0.028,2900,2136,1897,1897,4094,0,0,0,0,0,0,26.06,26.02,24.18,10.21,50.94
$GC,893,1.83,502.9,2899,2136,1896,4094,13.2,10.8,128,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2136,1896,1896,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.22,52.83
$GC,934,1.83,502.9,2899,2136,1894,4094,8.7,11.2,134,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2136,1894,1894,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.23,53.11
$GC,976,1.83,505.3,2899,2136,1893,4094,4.1,10.7,140,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2136,1893,1893,4094,0,0,0,0,0,0,26.46,26.48,26.47,10.24,53.15
$STATE,993,end climb,FINISH_DEPTH_REACHED
$STATE,993,begin subsurface finish
$FINISH1,1.6,1.024106,104
$GC,1007,0.16,104.1,2900,2136,1892,4094,1.6,11.0,143,1021,5.20,1.23,-4.25,0.000,20996,0.022,1.235,2391,1715,2367,2367,4094,0,0,0,0,0,0,26.17,24.15,26.23,10.24,54.25
$FINISH2,0.1
$STATE,1022,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1022,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,171221
$TT8_MAMPS,0.025466,0.103362
$HUMID,54.33
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.84,68.399
$10V_AH,10.36,62.217
$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,23.300,6.575,58.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,381.913,215.455,140.086,211.175,136.153,0.000,305.316,0.000,220.132,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,1235.475,1240.065,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.741,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,10856,145
$CAP_FILE_SIZE,26022,0
$CFSIZE,1024409600,904806400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,172511,5957.561,-17222.445,5,0.8,17,7.7,0.4,55.1,10,4.7