version: 66.13
glider: 401
mission: 22
dive: 2337
start: 9 5 117 19 23 30
data:
$ID,401
$MISSION,22
$DIVE,2337
$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,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
$GPS1,050917,184443,5957.3228,-17220.9922,5,0.9,50,7.7,0.3,261.0,8,3.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-1.5
$GPS2,050917,184443,5957.3228,-17220.9922,5,0.9,50,7.7,0.3,261.0,8,3.0
$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,103.8,54096,-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,-487.5,2385,1946,2368,4092,0.0,0.0,0,25,6.30,0.00,-4.72,0.000,20482,0.020,0.000,1762,1947,2872,2872,4094,0,0,0,0,0,0,26.20,28.83,26.22,10.36,53.93
$GC,32,-1.80,-487.5,1761,1946,2872,4094,0.2,-3.1,2,38,0.00,0.00,-1.55,0.000,16390,0.000,0.000,1762,1947,3059,3059,4094,0,0,0,0,0,0,26.46,24.47,26.41,10.46,54.01
$GC,73,-1.80,-487.5,1761,1946,3060,4094,4.8,-13.3,8,80,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1947,3060,3060,4095,0,0,0,0,0,0,26.41,26.43,26.42,10.50,54.01
$GC,115,-1.80,-487.5,1761,1946,3061,4095,12.6,-19.3,14,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3061,3061,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.51,54.25
$GC,156,-1.80,-487.5,1761,1946,3062,4094,20.3,-18.7,20,162,0.00,1.08,0.00,0.000,516,0.000,0.050,1761,1523,3063,3063,4094,0,0,0,0,0,0,26.48,26.01,26.49,10.52,54.33
$GC,203,-1.80,-487.5,1761,1522,3064,4094,29.4,-18.0,27,210,0.00,1.02,0.00,0.000,1030,0.000,0.028,1761,1954,3064,3064,4095,0,0,0,0,0,0,26.20,26.18,26.24,10.50,53.30
$GC,246,-1.80,-487.5,1761,1954,3066,4095,35.4,-14.0,33,252,0.00,1.10,0.00,0.000,260,0.000,0.047,1761,2374,3066,3066,4094,0,0,0,0,0,0,26.53,26.06,26.54,10.45,52.63
$GC,317,-1.80,-487.5,1761,2374,3067,4094,46.0,-14.7,44,324,0.00,1.05,0.00,0.000,1030,0.000,0.030,1761,1957,3067,3067,4095,0,0,0,0,0,0,26.24,26.21,26.27,10.41,50.90
$GC,359,-1.80,-487.5,1761,1957,3069,4095,52.0,-14.6,50,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1957,3069,3069,4095,0,0,0,0,0,0,26.58,26.60,26.60,10.40,50.19
$STATE,377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,377,begin apogee
$GC,390,-0.45,0.0,1761,2145,3070,4095,55.4,-14.1,53,426,4.57,0.00,28.38,1.249,10244,0.054,0.000,2185,2145,2485,2485,4094,0,0,0,0,0,0,26.12,25.30,24.17,10.40,50.00
$STATE,427,end apogee,CONTROL_FINISHED_OK
$STATE,427,begin climb
$GC,433,1.80,487.5,2185,2145,2483,4094,59.3,0.0,59,474,7.57,0.00,27.88,1.222,11270,0.030,0.000,2900,2145,1916,1916,4094,0,0,0,0,0,0,25.67,25.85,23.80,10.28,49.17
$GC,510,1.80,487.5,2898,2145,1915,4094,53.3,12.0,71,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1914,1914,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.15,47.67
$GC,551,1.80,487.5,2899,2145,1913,4094,47.9,13.6,77,558,0.00,1.17,0.00,0.000,516,0.000,0.045,2900,1708,1913,1913,4094,0,0,0,0,0,0,25.86,25.46,25.86,10.14,47.75
$GC,659,1.80,487.5,2899,1708,1910,4094,32.8,13.8,94,666,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2128,1910,1910,4094,0,0,0,0,0,0,25.86,25.82,25.88,10.12,48.03
$GC,701,1.80,487.5,2899,2127,1909,4094,27.3,13.0,100,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2127,1909,1909,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.14,48.93
$GC,743,1.86,528.2,2899,2127,1908,4094,23.0,10.2,106,751,0.12,0.00,3.78,0.453,10246,0.064,0.000,2923,2127,1867,1867,4094,0,0,0,0,0,0,26.06,25.35,24.30,10.18,49.76
$GC,786,1.86,528.2,2922,2127,1865,4094,18.3,11.2,112,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2128,1866,1866,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.20,51.45
$GC,827,1.86,528.2,2922,2127,1865,4094,13.5,11.5,118,834,0.00,1.10,0.00,0.000,516,0.000,0.044,2923,1708,1865,1865,4094,0,0,0,0,0,0,26.34,25.89,26.35,10.20,53.46
$STATE,923,end climb,SURFACE_DEPTH_REACHED
$STATE,923,begin surface coast
$FINISH,0.2,1.024118
$STATE,936,end surface coast,CONTROL_FINISHED_OK
$STATE,936,begin surface
$SM_CCo,1045,0.00,0.000,0,0,1861,535.77
$SM_GC,0.92,27.88,0.60,0.00,0.018,0.030,0.000,238,1975,1861,-6.55,-1.28,535.77,0,0,0,0,0,0,26.18,26.18,26.22
$IRIDIUM_FIX,5953.06,-17035.79,050917,171848
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.64
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.80,68.503
$10V_AH,10.33,62.306
$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,46.450,9.125,60.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,369.237,272.095,149.106,199.290,125.970,0.000,301.671,0.000,207.413,0.000,0.543,0.000
$DEVICE_MAMPS,64.260,49.725,1249.245,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,10813,136
$CAP_FILE_SIZE,25747,0
$CFSIZE,1024409600,904609792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,194155,5957.070,-17219.906,5,0.8,14,7.7,0.5,249.1,10,4.6