version: 66.13
glider: 401
mission: 22
dive: 2349
start: 9 6 117 0 10 5
data:
$ID,401
$MISSION,22
$DIVE,2349
$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,27
$R_STBD_OVSHOOT,34
$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
$GPS1,050917,233150,5956.1396,-17219.7891,8,0.8,19,7.7,0.4,228.6,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-4.1
$GPS2,050917,233150,5956.1396,-17219.7891,8,0.8,19,7.7,0.4,228.6,11,5.0
$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,102.0,52275,-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,-487.5,2387,1969,2369,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.024,0.000,1837,1971,2369,2369,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.35,53.66
$GC,26,-1.80,-487.5,1836,1971,2369,4094,0.0,0.0,1,39,0.65,1.17,-6.47,0.000,20740,0.027,1.225,1763,2372,3056,3056,4095,0,0,0,0,0,0,26.17,24.11,26.20,10.35,53.66
$GC,69,-1.80,-487.5,1762,2376,3056,4095,2.0,-7.4,7,76,0.00,1.05,0.00,0.000,1030,0.000,0.028,1763,1949,3056,3056,4094,0,0,0,0,0,0,26.09,26.06,26.12,10.50,53.42
$GC,111,-1.80,-487.5,1762,1950,3057,4094,8.8,-17.6,13,117,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3058,3058,4095,0,0,0,0,0,0,26.41,26.43,26.43,10.51,53.89
$GC,152,-1.80,-487.5,1762,1950,3059,4095,17.0,-20.4,19,158,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3059,3059,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.50,52.99
$GC,193,-1.80,-487.5,1762,1949,3060,4094,24.5,-18.5,25,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3061,3061,4095,0,0,0,0,0,0,26.48,26.49,26.48,10.50,53.30
$GC,234,-1.80,-487.5,1763,1950,3061,4095,31.5,-15.9,31,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3062,3062,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.48,52.87
$GC,275,-1.80,-487.5,1763,1950,3063,4094,37.2,-14.4,37,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3063,3063,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.44,52.75
$GC,317,-1.80,-487.5,1762,1950,3064,4094,42.8,-13.4,43,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3064,3064,4094,0,0,0,0,0,0,26.54,26.56,26.56,10.42,51.37
$GC,358,-1.80,-487.5,1762,1950,3064,4094,48.8,-14.3,49,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3065,3065,4094,0,0,0,0,0,0,26.57,26.58,26.58,10.41,50.43
$GC,399,-1.80,-487.5,1763,1951,3066,4094,54.4,-13.7,55,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3066,3066,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.40,49.96
$STATE,409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,410,begin apogee
$GC,423,-0.45,0.0,1763,2141,3067,4094,56.7,-14.2,57,459,4.55,0.00,28.33,1.265,10244,0.054,0.000,2186,2142,2484,2484,4095,0,0,0,0,0,0,26.12,25.28,24.11,10.39,49.37
$STATE,460,end apogee,CONTROL_FINISHED_OK
$STATE,460,begin climb
$GC,466,1.80,487.5,2185,2141,2484,4095,60.8,0.0,63,507,7.60,0.00,27.98,1.243,11270,0.032,0.000,2900,2141,1915,1915,4094,0,0,0,0,0,0,25.66,25.84,23.74,10.27,48.66
$GC,543,1.80,487.5,2899,2141,1914,4094,55.0,12.1,75,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1915,1915,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.15,47.63
$GC,585,1.80,487.5,2899,2141,1913,4094,49.8,12.7,81,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1912,1912,4095,0,0,0,0,0,0,25.83,25.85,25.84,10.13,48.03
$GC,626,1.80,487.5,2899,2141,1912,4095,44.1,13.3,87,632,0.00,1.12,0.00,0.000,516,0.000,0.045,2900,1721,1912,1912,4094,0,0,0,0,0,0,25.97,25.56,25.98,10.13,47.32
$GC,782,1.80,487.5,2899,1720,1907,4094,24.9,10.8,112,789,0.00,1.00,0.00,0.000,1030,0.000,0.029,2900,2131,1907,1907,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.17,49.56
$GC,824,1.87,529.1,2899,2131,1907,4094,20.6,10.2,118,832,0.15,0.00,3.75,0.441,10246,0.057,0.000,2926,2131,1866,1866,4094,0,0,0,0,0,0,26.10,25.36,24.30,10.19,51.33
$GC,867,1.87,529.1,2925,2131,1865,4094,15.6,12.5,124,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2131,1865,1865,4094,0,0,0,0,0,0,26.33,26.35,26.34,10.20,52.83
$GC,908,1.87,529.1,2925,2131,1863,4094,10.5,12.3,130,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2131,1863,1863,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.20,53.15
$GC,949,1.87,529.1,2925,2131,1862,4094,5.6,11.9,136,955,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2131,1862,1862,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.21,53.22
$STATE,973,end climb,SURFACE_DEPTH_REACHED
$STATE,973,begin surface coast
$FINISH,0.1,1.024188
$STATE,986,end surface coast,CONTROL_FINISHED_OK
$STATE,986,begin surface
$SM_CCo,1095,0.00,0.000,0,0,1860,536.62
$SM_GC,0.80,28.12,0.47,0.00,0.020,0.053,0.000,230,1953,1860,-6.59,1.37,536.62,0,0,0,0,0,0,25.89,26.05,26.01
$IRIDIUM_FIX,5953.06,-17035.79,050917,221635
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.01
$INTERNAL_PRESSURE,10.1602
$TCM_TEMP,3.90
$XPDR_PINGS,0
$24V_AH,23.74,68.859
$10V_AH,10.32,62.573
$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,46.650,5.900,60.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,382.183,274.203,160.098,207.645,141.570,0.000,322.611,0.000,215.988,0.000,0.542,0.000
$DEVICE_MAMPS,57.375,1224.765,1264.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.821,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,10821,142
$CAP_FILE_SIZE,27514,0
$CFSIZE,1024409600,904019968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060917,002936,5956.130,-17219.484,5,0.8,30,7.7,0.8,229.0,10,4.7