version: 66.13
glider: 401
mission: 22
dive: 2115
start: 9 1 117 23 37 38
data:
$ID,401
$MISSION,22
$DIVE,2115
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,600
$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,26
$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
$GPS1,010917,225643,6006.9019,-17315.2070,7,0.8,17,7.3,0.5,303.6,11,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-1.8
$GPS2,010917,225643,6006.9019,-17315.2070,7,0.8,17,7.3,0.5,303.6,11,4.9
$SPEED_LIMITS,0.226,0.425
$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,103.1,107641,-10.3,-10.526,-13.92,8308
$D_GRID,60
$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,11,-1.82,-585.0,2391,1948,2368,4092,0.0,0.0,0,29,6.45,0.00,-7.80,0.000,20486,0.024,0.000,1764,1949,3172,3172,4094,0,0,0,0,0,0,26.08,24.34,26.11,10.35,53.03
$GC,35,-1.82,-585.0,1763,1948,3172,4094,0.0,-0.5,3,41,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3172,3172,4095,0,0,0,0,0,0,26.35,26.36,26.36,10.52,52.95
$GC,76,-1.82,-585.0,1763,1948,3173,4095,4.7,-12.9,9,81,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3174,3174,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.52,52.75
$GC,116,-1.82,-585.0,1763,1948,3175,4095,11.9,-18.8,15,122,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3175,3175,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.52,52.95
$GC,157,-1.82,-585.0,1763,1948,3176,4094,19.4,-18.4,21,163,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3176,3176,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.53,52.55
$GC,197,-1.82,-585.0,1763,1948,3177,4094,25.8,-14.2,27,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3177,3177,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.50,52.44
$GC,238,-1.82,-585.0,1763,1948,3178,4095,31.5,-14.1,33,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3178,3178,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.48,52.40
$GC,278,-1.82,-585.0,1763,1948,3179,4094,37.0,-13.1,39,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1948,3179,3179,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.46,50.86
$GC,319,-1.82,-585.0,1763,1949,3180,4095,42.5,-13.8,45,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1949,3180,3180,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.44,51.06
$GC,360,-1.82,-585.0,1763,1948,3181,4095,48.0,-13.1,51,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3181,3181,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.43,49.96
$GC,400,-1.82,-585.0,1762,1948,3182,4095,53.4,-13.2,57,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3182,3182,4095,0,0,0,0,0,0,26.58,26.58,26.58,10.42,49.56
$GC,441,-1.82,-585.0,1763,1948,3183,4095,58.9,-13.8,63,448,0.00,1.15,0.00,0.000,260,0.000,0.046,1763,2378,3183,3183,4095,0,0,0,0,0,0,26.58,26.11,26.60,10.42,49.48
$STATE,452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,453,begin apogee
$GC,465,-0.45,0.0,1763,2112,3183,4095,61.1,-13.4,65,507,4.55,0.08,33.58,1.333,10246,0.051,0.116,2186,2149,2484,2484,4094,0,0,0,0,0,0,26.13,25.16,24.04,10.41,48.89
$STATE,508,end apogee,CONTROL_FINISHED_OK
$STATE,509,begin climb
$GC,514,1.82,585.0,2186,2148,2484,4094,64.5,0.0,72,562,7.65,1.08,33.22,1.297,10756,0.029,0.041,2903,1737,1803,1803,4094,0,0,0,0,0,0,25.50,24.39,23.65,10.27,48.34
$GC,632,1.82,585.0,2902,1736,1801,4094,53.5,12.9,90,638,0.00,0.98,0.00,0.000,1030,0.000,0.030,2903,2127,1801,1801,4094,0,0,0,0,0,0,25.39,25.37,25.41,10.12,47.36
$GC,673,1.82,585.0,2902,2127,1799,4094,47.2,13.4,96,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1799,1799,4094,0,0,0,0,0,0,25.82,25.83,25.82,10.11,47.48
$GC,714,1.82,585.0,2902,2126,1798,4094,41.7,13.8,102,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1797,1797,4095,0,0,0,0,0,0,25.94,25.95,25.94,10.10,47.99
$GC,755,1.82,585.0,2902,2127,1796,4095,36.2,13.4,108,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1796,1796,4094,0,0,0,0,0,0,26.03,26.05,26.04,10.11,48.03
$GC,795,1.82,585.0,2902,2127,1795,4094,30.7,13.4,114,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1796,1796,4094,0,0,0,0,0,0,26.11,26.12,26.12,10.09,47.83
$GC,836,1.82,585.0,2901,2127,1794,4094,25.5,13.2,120,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1794,1794,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.11,48.89
$GC,876,1.82,585.0,2902,2126,1793,4094,20.4,12.4,126,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1793,1793,4094,0,0,0,0,0,0,26.23,26.24,26.24,10.14,49.40
$GC,917,1.82,585.0,2901,2126,1791,4094,15.7,11.6,132,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1791,1791,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.17,50.98
$GC,958,1.82,585.0,2902,2127,1790,4094,11.1,11.4,138,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1790,1790,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.18,52.12
$GC,998,1.82,585.0,2902,2127,1789,4095,6.4,11.6,144,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2127,1789,1789,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.19,52.40
$STATE,1034,end climb,SURFACE_DEPTH_REACHED
$STATE,1034,begin surface coast
$FINISH,0.0,1.024198
$STATE,1053,end surface coast,CONTROL_FINISHED_OK
$STATE,1053,begin surface
$SM_CCo,1160,0.00,0.000,0,0,1787,599.30
$SM_GC,0.80,27.83,0.40,0.00,0.020,0.044,0.000,237,1971,1787,-6.55,2.28,599.30,0,0,0,0,0,0,26.15,26.08,26.19
$IRIDIUM_FIX,5952.82,-17420.78,010917,213841
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.22
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.70
$XPDR_PINGS,0
$24V_AH,23.65,61.817
$10V_AH,10.33,57.035
$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,46.475,4.750,66.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,399.566,279.756,181.888,222.923,146.924,0.000,359.558,0.000,231.491,0.000,0.543,0.000
$DEVICE_MAMPS,51.255,115.515,1332.630,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,10841,153
$CAP_FILE_SIZE,29314,0
$CFSIZE,1024409600,915554304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010917,235820,6007.338,-17314.297,5,1.0,38,7.3,0.5,333.3,11,4.8