version: 66.13
glider: 401
mission: 22
dive: 2205
start: 9 3 117 13 12 36
data:
$ID,401
$MISSION,22
$DIVE,2205
$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,24
$R_STBD_OVSHOOT,46
$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
$GPS1,030917,123243,6006.1133,-17247.8926,6,1.0,16,7.5,0.0,267.6,9,4.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.3
$GPS2,030917,123243,6006.1133,-17247.8926,6,1.0,16,7.5,0.0,267.6,9,4.5
$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,108.1,83607,-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,-585.0,2391,1963,2367,4092,0.0,0.0,0,29,6.28,0.00,-7.38,0.000,20486,0.021,0.000,1776,1963,3172,3172,4094,0,0,0,0,0,0,26.14,24.39,26.16,10.38,51.77
$GC,36,-1.82,-585.0,1776,1963,3172,4094,0.2,-1.6,3,42,0.00,1.15,0.00,0.000,516,0.000,0.050,1776,1516,3172,3172,4094,0,0,0,0,0,0,26.37,25.96,26.39,10.56,51.96
$GC,173,-1.82,-585.0,1776,1516,3176,4094,21.3,-16.9,25,180,0.00,0.98,0.00,0.000,1030,0.000,0.027,1777,1935,3176,3176,4094,0,0,0,0,0,0,26.23,26.20,26.25,10.57,52.08
$GC,215,-1.82,-585.0,1776,1935,3177,4094,28.4,-16.9,31,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1936,3177,3177,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.56,51.89
$GC,255,-1.82,-585.0,1776,1936,3178,4095,34.2,-13.9,37,262,0.00,1.12,0.00,0.000,260,0.000,0.044,1776,2369,3179,3179,4095,0,0,0,0,0,0,26.55,26.10,26.55,10.54,51.49
$GC,339,-1.82,-585.0,1776,2368,3181,4095,45.0,-13.1,50,345,0.00,1.02,0.00,0.000,1030,0.000,0.028,1776,1959,3181,3181,4095,0,0,0,0,0,0,26.28,26.25,26.30,10.50,50.43
$GC,381,-1.82,-585.0,1776,1959,3181,4095,50.5,-13.5,56,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1960,3182,3182,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.49,49.92
$GC,422,-1.82,-585.0,1776,1959,3183,4095,56.1,-13.3,62,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1960,3183,3183,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.48,49.92
$STATE,451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,451,begin apogee
$GC,464,-0.45,0.0,1776,2140,3183,4095,60.6,-13.5,67,505,4.22,0.00,33.42,1.269,10244,0.034,0.000,2187,2140,2484,2484,4095,0,0,0,0,0,0,26.26,25.23,24.15,10.47,49.17
$STATE,506,end apogee,CONTROL_FINISHED_OK
$STATE,506,begin climb
$GC,512,1.82,585.0,2187,2140,2484,4095,60.8,0.0,74,559,7.57,0.00,33.10,1.237,11270,0.028,0.000,2903,2140,1802,1802,4094,0,0,0,0,0,0,25.58,25.76,23.75,10.33,48.26
$GC,594,1.82,585.0,2902,2140,1801,4094,55.0,10.6,87,601,0.00,1.15,0.00,0.000,516,0.000,0.044,2903,1707,1801,1801,4094,0,0,0,0,0,0,25.57,25.23,25.58,10.17,46.92
$GC,714,1.82,585.0,2902,1707,1798,4094,39.7,12.0,106,721,0.00,0.98,0.00,0.000,1030,0.000,0.028,2903,2107,1798,1798,4095,0,0,0,0,0,0,25.76,25.74,25.79,10.16,47.55
$GC,756,1.82,585.0,2902,2106,1797,4095,34.5,12.3,112,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2107,1796,1796,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.17,48.03
$GC,797,1.82,585.0,2902,2106,1796,4094,29.8,12.1,118,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1796,1796,4094,0,0,0,0,0,0,26.20,26.22,26.21,10.17,48.74
$GC,837,1.82,585.0,2902,2106,1795,4094,25.3,11.1,124,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1794,1794,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.20,49.40
$GC,878,1.84,599.1,2902,2106,1793,4094,21.0,10.4,130,885,0.00,0.00,2.28,0.130,8198,0.000,0.000,2903,2107,1785,1785,4094,0,0,0,0,0,0,26.31,25.29,24.20,10.22,50.63
$GC,920,1.84,599.1,2902,2106,1784,4094,16.5,10.9,136,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1784,1784,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.22,51.37
$GC,961,1.84,601.7,2902,2106,1783,4094,12.1,10.5,142,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1783,1783,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.22,52.16
$GC,1002,1.84,601.7,2902,2106,1782,4094,7.5,11.1,148,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1782,1782,4094,0,0,0,0,0,0,26.42,26.44,26.44,10.24,52.55
$GC,1043,1.84,601.7,2902,2106,1781,4094,3.0,11.5,154,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2107,1780,1780,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.24,52.95
$STATE,1053,end climb,SURFACE_DEPTH_REACHED
$STATE,1053,begin surface coast
$FINISH,0.1,1.024198
$STATE,1067,end surface coast,CONTROL_FINISHED_OK
$STATE,1067,begin surface
$SM_CCo,1175,0.00,0.000,0,0,1779,606.17
$SM_GC,0.80,27.83,0.43,0.00,0.019,0.054,0.000,232,1950,1779,-6.59,1.09,606.17,0,0,0,0,0,0,25.91,26.08,26.03
$IRIDIUM_FIX,5925.93,-17425.36,030917,111505
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.16
$INTERNAL_PRESSURE,10.1797
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.75,64.656
$10V_AH,10.37,59.210
$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,45.900,7.800,68.800,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,412.190,307.755,167.063,230.180,129.214,0.000,339.264,0.000,238.524,0.000,0.543,0.000
$DEVICE_MAMPS,34.425,54.315,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,105.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330536
$DATA_FILE_SIZE,10801,158
$CAP_FILE_SIZE,27678,0
$CFSIZE,1024409600,911130624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,133310,6006.188,-17247.082,8,0.7,14,7.5,0.0,78.6,11,4.9