version: 66.13
glider: 401
mission: 22
dive: 2346
start: 9 5 117 23 1 21
data:
$ID,401
$MISSION,22
$DIVE,2346
$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,24
$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
$GPS1,050917,222236,5956.3589,-17219.6211,5,0.8,22,7.7,0.8,296.1,11,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.9
$GPS2,050917,222236,5956.3589,-17219.6211,5,0.8,22,7.7,0.8,296.1,11,5.0
$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,102.5,52266,-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,-487.5,2391,1942,2368,4092,0.0,0.0,0,30,6.43,0.00,-6.57,0.000,20486,0.023,0.000,1760,1941,3056,3056,4095,0,0,0,0,0,0,26.22,24.34,26.27,10.35,54.09
$GC,37,-1.80,-487.5,1760,1941,3057,4095,0.1,-1.2,2,46,0.00,1.10,0.00,0.000,516,0.000,0.057,1760,1520,3056,3056,4095,0,0,0,0,0,0,26.42,25.95,26.43,10.50,54.52
$GC,85,-1.80,-487.5,1759,1519,3058,4095,4.9,-13.9,8,95,0.00,1.02,0.00,0.000,1030,0.000,0.030,1760,1943,3058,3058,4095,0,0,0,0,0,0,26.18,26.15,26.19,10.50,54.17
$GC,135,-1.80,-487.5,1759,1943,3060,4095,13.2,-17.8,14,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3060,3060,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.51,54.44
$GC,183,-1.80,-487.5,1759,1942,3061,4095,21.8,-18.0,20,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3061,3061,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.52,53.97
$GC,232,-1.80,-487.5,1759,1943,3063,4095,30.7,-19.0,26,241,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3063,3063,4094,0,0,0,0,0,0,26.56,26.57,26.57,10.47,53.38
$GC,281,-1.80,-487.5,1759,1943,3064,4094,37.2,-13.1,32,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1944,3064,3064,4094,0,0,0,0,0,0,26.58,26.60,26.59,10.44,51.81
$GC,329,-1.80,-487.5,1759,1944,3065,4094,43.8,-13.8,38,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1944,3066,3066,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.42,51.26
$GC,378,-1.80,-487.5,1758,1944,3066,4095,50.7,-14.2,44,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1943,3067,3067,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.40,49.72
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,421,-0.45,0.0,1760,2149,3068,4094,55.9,-14.5,48,457,4.60,0.00,28.40,1.263,10244,0.056,0.000,2185,2149,2484,2484,4094,0,0,0,0,0,0,26.14,25.31,24.15,10.39,49.88
$STATE,458,end apogee,CONTROL_FINISHED_OK
$STATE,458,begin climb
$GC,464,1.80,487.5,2185,2149,2484,4094,60.4,0.0,52,508,7.60,0.00,28.17,1.239,11270,0.030,0.000,2901,2149,1914,1914,4094,0,0,0,0,0,0,25.68,25.87,23.77,10.28,48.26
$GC,550,1.80,487.5,2901,2149,1913,4094,54.0,12.5,62,559,0.00,1.17,0.00,0.000,516,0.000,0.044,2901,1714,1913,1913,4094,0,0,0,0,0,0,25.71,25.32,25.72,10.14,47.36
$GC,698,1.80,487.5,2901,1713,1908,4094,34.8,12.9,83,707,0.00,1.00,0.00,0.000,1030,0.000,0.030,2901,2122,1909,1909,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.12,47.63
$GC,749,1.80,487.5,2900,2122,1907,4094,28.3,12.9,89,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1907,1907,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.12,47.87
$GC,799,2.00,617.1,2901,2121,1907,4094,23.2,8.8,95,819,0.55,1.08,8.20,0.714,10756,0.029,0.043,2966,1713,1763,1763,4094,0,0,0,0,0,0,26.05,25.13,24.46,10.17,49.68
$GC,917,2.00,617.1,2966,1712,1759,4094,8.0,13.9,111,926,0.00,0.98,0.00,0.000,1030,0.000,0.032,2966,2112,1759,1759,4094,0,0,0,0,0,0,26.03,25.98,26.05,10.18,52.79
$STATE,954,end climb,SURFACE_DEPTH_REACHED
$STATE,954,begin surface coast
$FINISH,0.1,1.024119
$STATE,970,end surface coast,CONTROL_FINISHED_OK
$STATE,970,begin surface
$SM_CCo,1080,0.00,0.000,0,0,1757,625.06
$SM_GC,0.83,28.52,0.43,0.00,0.019,0.047,0.000,231,1947,1757,-6.59,1.28,625.06,0,0,0,0,0,0,25.91,26.06,26.01
$IRIDIUM_FIX,5953.06,-17035.79,050917,221501
$TT8_MAMPS,0.025466,0.247919
$HUMID,54.21
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.77,68.773
$10V_AH,10.07,62.516
$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,47.700,7.750,64.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,341.867,60.137,130.814,496.382,121.449,0.000,333.080,0.000,292.848,0.000,0.542,0.000
$DEVICE_MAMPS,55.845,56.610,1263.015,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.435,320.572,253.676,376.318,493.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10921,118
$CAP_FILE_SIZE,23387,0
$CFSIZE,1024409600,904167424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,232039,5956.179,-17219.533,4,0.8,32,7.7,0.8,239.7,10,5.0