version: 66.13
glider: 401
mission: 22
dive: 2118
start: 9 2 117 0 50 1
data:
$ID,401
$MISSION,22
$DIVE,2118
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,020917,000815,6007.4678,-17314.3652,7,0.9,17,7.3,0.4,331.8,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-1.6
$GPS2,020917,000815,6007.4678,-17314.3652,7,0.9,17,7.3,0.4,331.8,11,4.7
$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,103.8,107279,-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,-585.0,2391,1954,2368,4092,0.0,0.0,0,29,6.47,0.00,-7.82,0.000,20486,0.024,0.000,1760,1954,3171,3171,4095,0,0,0,0,0,0,26.19,24.33,26.23,10.35,53.81
$GC,35,-1.82,-585.0,1760,1954,3171,4095,-0.0,-0.3,2,44,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3172,3172,4094,0,0,0,0,0,0,26.41,26.41,26.41,10.52,53.81
$GC,83,-1.82,-585.0,1759,1954,3172,4094,5.9,-13.8,8,91,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1954,3173,3173,4094,0,0,0,0,0,0,26.45,26.47,26.46,10.52,54.29
$GC,130,-1.82,-585.0,1759,1954,3174,4094,14.1,-18.0,14,139,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1954,3175,3175,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.53,53.42
$GC,178,-1.82,-585.0,1759,1954,3176,4095,22.0,-15.2,20,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1955,3176,3176,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.52,53.07
$GC,226,-1.82,-585.0,1760,1954,3177,4095,28.4,-13.5,26,235,0.00,1.12,0.00,0.000,260,0.000,0.045,1760,2374,3177,3177,4095,0,0,0,0,0,0,26.53,26.07,26.54,10.48,52.36
$GC,294,-1.82,-585.0,1759,2374,3178,4095,37.5,-13.3,35,303,0.00,1.05,0.00,0.000,1030,0.000,0.030,1760,1955,3179,3179,4095,0,0,0,0,0,0,26.23,26.20,26.25,10.44,50.94
$GC,344,-1.82,-585.0,1759,1956,3180,4095,44.2,-14.6,41,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1956,3180,3180,4094,0,0,0,0,0,0,26.58,26.59,26.60,10.43,50.63
$GC,394,-1.82,-585.0,1759,1956,3181,4094,51.2,-14.0,47,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1956,3182,3182,4094,0,0,0,0,0,0,26.60,26.61,26.60,10.43,49.88
$GC,443,-1.82,-585.0,1759,1956,3183,4094,58.3,-14.6,53,452,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1956,3183,3183,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.41,49.37
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,471,-0.45,0.0,1760,2143,3183,4094,61.8,-14.9,55,516,4.57,0.00,33.80,1.359,10244,0.051,0.000,2186,2143,2484,2484,4094,0,0,0,0,0,0,26.17,25.16,24.03,10.41,48.81
$STATE,517,end apogee,CONTROL_FINISHED_OK
$STATE,517,begin climb
$GC,522,1.82,585.0,2186,2142,2484,4094,65.8,0.0,60,567,7.65,0.00,33.47,1.314,11270,0.029,0.000,2903,2143,1802,1802,4094,0,0,0,0,0,0,25.51,25.69,23.63,10.27,48.07
$GC,608,1.82,585.0,2902,2142,1801,4094,59.2,12.4,70,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2143,1801,1801,4094,0,0,0,0,0,0,25.48,25.49,25.49,10.12,47.36
$GC,657,1.82,585.0,2902,2142,1800,4094,52.8,13.1,76,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2143,1800,1800,4095,0,0,0,0,0,0,25.72,25.75,25.74,10.11,46.88
$GC,707,1.82,585.0,2902,2142,1798,4095,46.3,12.9,82,717,0.00,1.15,0.00,0.000,516,0.000,0.045,2903,1709,1798,1798,4094,0,0,0,0,0,0,25.89,25.49,25.90,10.10,48.03
$GC,795,1.82,585.0,2903,1709,1795,4094,34.5,13.3,94,803,0.00,1.05,0.00,0.000,1030,0.000,0.030,2903,2133,1796,1796,4094,0,0,0,0,0,0,25.80,25.77,25.82,10.10,47.63
$GC,843,1.82,585.0,2902,2133,1794,4094,28.3,12.9,100,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1794,1794,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.09,48.26
$GC,891,1.82,585.0,2902,2133,1792,4094,22.0,13.1,106,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1792,1792,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.10,48.50
$GC,938,1.82,585.0,2902,2133,1791,4094,16.6,11.0,112,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1790,1790,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.16,50.11
$GC,986,1.82,585.0,2902,2133,1789,4094,11.4,10.8,118,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1789,1789,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.18,51.37
$GC,1034,1.82,585.0,2903,2133,1788,4094,6.2,10.9,124,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2133,1787,1787,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.19,52.20
$STATE,1070,end climb,SURFACE_DEPTH_REACHED
$STATE,1070,begin surface coast
$FINISH,-0.0,1.009282
$STATE,1091,end surface coast,CONTROL_FINISHED_OK
$STATE,1091,begin surface
$SM_CCo,1199,0.00,0.000,0,0,1786,599.30
$SM_GC,0.93,27.92,0.47,0.00,0.019,0.041,0.000,230,1941,1786,-6.59,1.28,599.30,0,0,0,0,0,0,25.97,26.11,26.06
$IRIDIUM_FIX,5952.82,-17420.78,010917,225041
$TT8_MAMPS,0.025466,0.265895
$HUMID,52.91
$INTERNAL_PRESSURE,10.1407
$TCM_TEMP,3.80
$XPDR_PINGS,0
$24V_AH,23.63,61.912
$10V_AH,10.03,57.116
$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,46.625,5.825,67.275,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,374.288,60.392,148.431,552.053,135.027,0.000,382.648,0.000,323.323,0.000,0.542,0.000
$DEVICE_MAMPS,51.255,45.135,1358.640,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.368,358.597,283.834,420.767,550.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,14374,132
$CAP_FILE_SIZE,26476,0
$CFSIZE,1024409600,915406848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020917,011107,6007.784,-17313.029,4,0.8,22,7.3,0.5,355.8,10,4.9