version: 66.13
glider: 401
mission: 22
dive: 2334
start: 9 5 117 18 11 6
data:
$ID,401
$MISSION,22
$DIVE,2334
$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,41
$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,0.04
$_SM_ANGLEo,-2.2
$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,-487.5,2391,1971,2366,4092,0.0,0.0,0,23,6.40,0.00,-2.03,0.000,20482,0.021,0.000,1758,1971,2587,2587,4094,0,0,0,0,0,0,26.27,28.83,26.31,10.36,53.97
$GC,29,-1.80,-487.5,1757,1971,2586,4094,0.1,0.0,1,39,0.00,0.00,-4.43,0.000,16390,0.000,0.000,1758,1971,3057,3057,4094,0,0,0,0,0,0,26.53,24.54,26.53,10.40,54.29
$GC,78,-1.80,-487.5,1757,1971,3058,4094,1.0,-3.4,7,87,0.00,1.15,0.00,0.000,516,0.000,0.053,1757,1525,3058,3058,4094,0,0,0,0,0,0,26.48,25.98,26.49,10.51,54.09
$GC,146,-1.80,-487.5,1757,1525,3060,4094,11.8,-18.5,16,154,0.00,0.98,0.00,0.000,1030,0.000,0.030,1757,1929,3060,3060,4095,0,0,0,0,0,0,26.21,26.20,26.25,10.51,53.74
$GC,194,-1.80,-487.5,1757,1929,3061,4095,20.8,-18.9,22,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1929,3062,3062,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.52,53.62
$GC,242,-1.80,-487.5,1757,1930,3063,4095,29.2,-15.9,28,252,0.00,1.20,0.00,0.000,260,0.000,0.046,1757,2389,3062,3062,4094,0,0,0,0,0,0,26.58,26.08,26.59,10.49,53.70
$GC,337,-1.80,-487.5,1757,2389,3066,4094,42.5,-14.2,41,347,0.00,1.08,0.00,0.000,1030,0.000,0.030,1757,1958,3066,3066,4094,0,0,0,0,0,0,26.28,26.28,26.30,10.43,51.18
$GC,387,-1.80,-487.5,1757,1958,3067,4094,49.6,-14.6,47,395,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1958,3067,3067,4095,0,0,0,0,0,0,26.63,26.65,26.65,10.42,50.11
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,425,begin apogee
$GC,438,-0.45,0.0,1757,2156,3068,4095,55.9,-14.5,52,474,4.60,0.00,28.38,1.261,10244,0.055,0.000,2185,2156,2484,2484,4094,0,0,0,0,0,0,26.17,25.34,24.20,10.40,49.56
$STATE,475,end apogee,CONTROL_FINISHED_OK
$STATE,475,begin climb
$GC,481,1.80,487.5,2184,2155,2483,4094,60.4,0.0,56,524,7.62,0.00,27.90,1.235,11270,0.030,0.000,2902,2156,1919,1919,4094,0,0,0,0,0,0,25.71,25.89,23.81,10.29,48.74
$GC,565,1.80,487.5,2901,2156,1918,4094,54.2,11.7,66,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2156,1917,1917,4094,0,0,0,0,0,0,25.73,25.74,25.74,10.16,47.83
$GC,615,1.80,487.5,2901,2156,1916,4094,47.8,13.3,72,624,0.00,1.17,0.00,0.000,516,0.000,0.044,2902,1712,1916,1916,4094,0,0,0,0,0,0,25.94,25.53,25.94,10.15,47.44
$GC,749,1.80,487.5,2901,1712,1912,4094,30.2,12.2,91,758,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2121,1912,1912,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.13,48.11
$GC,798,1.89,544.7,2901,2121,1911,4094,24.8,9.9,97,808,0.17,0.00,4.72,0.559,10246,0.050,0.000,2931,2121,1848,1848,4094,0,0,0,0,0,0,26.08,25.42,24.38,10.17,49.44
$GC,850,1.90,548.4,2930,2121,1847,4094,19.6,10.7,103,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2121,1847,1847,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.19,50.86
$GC,900,1.90,548.4,2930,2121,1846,4094,14.0,11.2,109,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2121,1845,1845,4094,0,0,0,0,0,0,26.36,26.38,26.37,10.20,52.32
$GC,949,1.90,548.4,2930,2121,1844,4094,8.1,11.8,115,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2120,1844,1844,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.21,53.11
$GC,999,1.90,548.4,2930,2121,1843,4094,2.3,11.7,121,1008,0.00,1.08,0.00,0.000,516,0.000,0.047,2931,1711,1842,1842,4094,0,0,0,0,0,0,26.45,25.98,26.46,10.22,53.38
$STATE,1016,end climb,SURFACE_DEPTH_REACHED
$STATE,1016,begin surface coast
$FINISH,0.0,1.024131
$STATE,1037,end surface coast,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$SM_CCo,1146,0.00,0.000,0,0,1842,552.08
$SM_GC,0.70,28.10,0.57,0.00,0.018,0.029,0.000,230,1989,1842,-6.59,-1.32,552.08,0,0,0,0,0,0,25.94,26.24,26.05
$IRIDIUM_FIX,5953.06,-17035.79,050917,171221
$TT8_MAMPS,0.026964,0.235935
$HUMID,53.22
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,4.10
$XPDR_PINGS,0
$24V_AH,23.81,68.419
$10V_AH,10.10,62.247
$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,46.900,9.300,61.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,370.361,60.067,130.166,524.335,131.658,0.000,336.618,0.000,309.013,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,52.785,1260.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.074,342.334,270.922,401.519,522.437,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330708
$DATA_FILE_SIZE,10799,126
$CAP_FILE_SIZE,25945,0
$CFSIZE,1024409600,904757248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,183132,5957.326,-17221.045,8,0.9,34,7.7,0.0,161.8,9,4.9