version: 66.13
glider: 401
mission: 22
dive: 2301
start: 9 5 117 4 15 49
data:
$ID,401
$MISSION,22
$DIVE,2301
$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,30
$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
$GPS1,050917,033731,6000.8066,-17233.9023,8,0.8,18,7.6,0.5,4.5,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.1
$GPS2,050917,033731,6000.8066,-17233.9023,8,0.8,18,7.6,0.5,4.5,10,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$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,112.4,25625,-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,6,begin dive
$GC,12,-1.80,-487.5,2388,1949,2363,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.024,0.000,1836,1950,2363,2363,4095,0,0,0,0,0,0,26.46,28.83,28.83,10.35,52.67
$GC,26,-1.80,-487.5,1836,1950,2362,4095,0.0,0.0,1,39,0.65,1.25,-6.53,0.000,20740,0.028,1.226,1761,2375,3059,3059,4095,0,0,0,0,0,0,26.19,24.19,26.22,10.36,52.71
$GC,177,-1.80,-487.5,1760,2374,3063,4095,21.8,-19.0,24,184,0.00,1.05,0.00,0.000,1030,0.000,0.031,1761,1953,3063,3063,4095,0,0,0,0,0,0,26.15,26.11,26.18,10.51,53.30
$GC,219,-1.80,-487.5,1760,1953,3063,4095,29.8,-14.4,30,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3064,3064,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.49,52.83
$GC,260,-1.80,-487.5,1760,1953,3065,4095,35.5,-13.4,36,266,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.55,10.46,52.52
$GC,301,-1.80,-487.5,1760,1953,3066,4095,41.1,-13.2,42,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3066,3066,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.44,50.74
$GC,342,-1.80,-487.5,1760,1953,3068,4095,46.7,-13.8,48,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1953,3068,3068,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.43,50.35
$GC,383,-1.80,-487.5,1760,1953,3069,4095,52.8,-15.4,54,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1953,3069,3069,4095,0,0,0,0,0,0,26.59,26.61,26.60,10.41,49.56
$STATE,394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,394,begin apogee
$GC,407,-0.45,0.0,1761,2142,3069,4095,55.3,-14.7,56,443,4.60,0.00,28.42,1.242,10244,0.053,0.000,2185,2142,2484,2484,4094,0,0,0,0,0,0,26.13,25.32,24.20,10.41,49.25
$STATE,444,end apogee,CONTROL_FINISHED_OK
$STATE,444,begin climb
$GC,450,1.80,487.5,2185,2142,2483,4094,59.3,0.0,62,491,7.60,0.00,27.92,1.219,11270,0.031,0.000,2899,2142,1916,1916,4094,0,0,0,0,0,0,25.68,25.85,23.83,10.29,48.77
$GC,527,1.80,487.5,2898,2142,1915,4094,53.6,11.5,74,534,0.00,1.15,0.00,0.000,516,0.000,0.043,2899,1711,1915,1915,4094,0,0,0,0,0,0,25.66,25.29,25.67,10.16,46.88
$GC,629,1.80,487.5,2898,1711,1910,4094,40.6,12.8,90,635,0.00,1.02,0.00,0.000,1030,0.000,0.029,2899,2128,1912,1912,4094,0,0,0,0,0,0,25.76,25.72,25.77,10.14,47.44
$GC,671,1.80,487.5,2898,2128,1911,4094,35.1,13.3,96,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2128,1911,1911,4094,0,0,0,0,0,0,26.13,26.15,26.15,10.14,47.71
$GC,712,1.80,487.5,2898,2128,1909,4094,29.6,13.5,102,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2128,1910,1910,4094,0,0,0,0,0,0,26.20,26.22,26.22,10.14,48.11
$GC,754,1.80,487.5,2898,2128,1908,4094,23.9,13.7,108,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2128,1908,1908,4095,0,0,0,0,0,0,26.27,26.28,26.27,10.17,48.77
$GC,795,1.80,488.3,2898,2128,1907,4095,19.3,10.8,114,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2128,1907,1907,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.20,50.35
$GC,836,1.82,501.5,2898,2128,1906,4094,14.9,10.6,120,843,0.00,0.00,2.28,0.122,8198,0.000,0.000,2899,2128,1897,1897,4094,0,0,0,0,0,0,26.36,25.26,24.20,10.21,51.89
$GC,879,1.86,523.2,2898,2128,1896,4094,10.4,10.5,126,887,0.10,1.10,2.97,0.274,10756,0.076,0.044,2920,1709,1872,1872,4094,0,0,0,0,0,0,26.18,25.52,24.44,10.22,52.08
$STATE,953,end climb,SURFACE_DEPTH_REACHED
$STATE,953,begin surface coast
$FINISH,0.0,1.023789
$STATE,978,end surface coast,CONTROL_FINISHED_OK
$STATE,978,begin surface
$SM_CCo,1087,0.00,0.000,0,0,1870,528.04
$SM_GC,0.83,27.92,0.60,0.00,0.019,0.031,0.000,237,1983,1870,-6.55,-1.23,528.04,0,0,0,0,0,0,26.22,26.20,26.25
$IRIDIUM_FIX,5925.93,-17425.36,050917,022333
$TT8_MAMPS,0.025466,0.105609
$HUMID,53.78
$INTERNAL_PRESSURE,10.17
$TCM_TEMP,4.40
$XPDR_PINGS,0
$24V_AH,23.83,67.316
$10V_AH,10.34,61.458
$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,46.500,7.100,61.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,383.586,283.494,149.727,206.135,134.110,0.000,304.602,0.000,214.473,0.000,0.543,0.000
$DEVICE_MAMPS,75.735,1226.295,1241.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10767,141
$CAP_FILE_SIZE,25930,0
$CFSIZE,1024409600,906412032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,043504,6000.626,-17232.340,5,0.8,23,7.6,0.5,61.1,10,5.0