version: 66.13
glider: 401
mission: 22
dive: 2296
start: 9 5 117 2 29 53
data:
$ID,401
$MISSION,22
$DIVE,2296
$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,28
$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
$GPS1,050917,021901,6000.6665,-17235.2988,5,0.8,22,7.6,0.0,310.8,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-41.3
$GPS2,050917,022914,6000.7227,-17235.2930,9,0.8,18,7.6,0.0,20.7,11,4.8
$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,110.8,26677,-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,11,-1.80,-487.5,238,1945,1773,4092,0.0,0.0,0,21,8.52,0.00,0.00,0.000,2049,0.099,0.000,945,1945,1773,1773,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,51.49
$GC,28,-1.80,-487.5,945,1945,1773,4094,0.8,0.0,1,55,8.75,1.25,-11.77,0.000,18692,0.047,1.220,1752,2378,3057,3057,4094,0,0,0,0,0,0,25.89,24.01,25.94,10.27,51.37
$GC,185,-1.80,-487.5,1752,2378,3061,4094,20.1,-18.8,22,195,0.00,1.08,0.00,0.000,1030,0.000,0.029,1753,1947,3062,3062,4095,0,0,0,0,0,0,26.06,26.03,26.09,10.55,51.06
$GC,236,-1.80,-487.5,1752,1945,3062,4095,29.4,-14.8,28,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3063,3063,4094,0,0,0,0,0,0,26.44,26.46,26.46,10.51,50.63
$GC,286,-1.80,-487.5,1752,1947,3064,4094,36.4,-14.1,34,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3064,3064,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.49,50.35
$GC,335,-1.80,-487.5,1752,1946,3065,4094,43.4,-14.5,40,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1947,3066,3066,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.47,49.56
$GC,384,-1.80,-487.5,1752,1947,3067,4095,50.6,-14.5,46,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3067,3067,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.45,48.42
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,420,-0.45,0.0,1752,2144,3068,4095,55.2,-14.6,49,457,4.70,0.00,28.48,1.245,10244,0.054,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.06,25.27,24.14,10.44,47.48
$STATE,458,end apogee,CONTROL_FINISHED_OK
$STATE,458,begin climb
$GC,463,1.80,487.5,2186,2144,2484,4094,59.5,0.0,53,508,7.62,0.00,27.95,1.221,11270,0.030,0.000,2901,2144,1917,1917,4094,0,0,0,0,0,0,25.64,25.82,23.82,10.32,46.53
$GC,549,1.80,487.5,2901,2144,1916,4094,53.2,11.7,63,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1916,1916,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.19,45.27
$GC,599,1.80,487.5,2901,2144,1914,4094,46.5,13.3,69,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2144,1914,1914,4095,0,0,0,0,0,0,25.91,25.92,25.92,10.18,45.86
$GC,649,1.80,487.5,2901,2144,1912,4095,39.9,13.0,75,659,0.00,1.12,0.00,0.000,516,0.000,0.043,2902,1720,1913,1913,4094,0,0,0,0,0,0,26.06,25.64,26.06,10.18,46.61
$GC,789,1.80,487.5,2901,1719,1909,4094,22.0,11.8,95,799,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2140,1908,1908,4094,0,0,0,0,0,0,25.99,25.95,26.01,10.22,47.91
$GC,839,1.85,518.4,2901,2140,1907,4094,16.8,10.3,101,848,0.00,0.00,3.12,0.323,8198,0.000,0.000,2902,2140,1880,1880,4094,0,0,0,0,0,0,26.36,24.99,24.36,10.24,50.00
$GC,889,1.85,518.4,2901,2140,1879,4094,11.5,10.8,107,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2140,1879,1879,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.24,50.78
$GC,939,1.85,518.4,2901,2140,1878,4095,6.0,11.1,113,948,0.00,1.10,0.00,0.000,516,0.000,0.044,2902,1716,1877,1877,4094,0,0,0,0,0,0,26.42,25.96,26.44,10.25,51.29
$STATE,969,end climb,FINISH_DEPTH_REACHED
$STATE,969,begin subsurface finish
$FINISH1,1.9,1.024102,104
$GC,984,0.16,104.4,2901,2145,1876,4094,1.9,10.8,117,1003,5.22,0.00,-4.40,0.000,20998,0.024,0.000,2392,2146,2364,2364,4094,0,0,0,0,0,0,26.16,25.47,26.21,10.25,51.77
$FINISH2,0.1
$STATE,1004,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1004,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050917,011441
$TT8_MAMPS,0.025466,0.256158
$HUMID,51.61
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.90
$XPDR_PINGS,0
$24V_AH,23.82,67.193
$10V_AH,10.04,61.364
$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,34.825,7.150,59.550,0.000,0.000,23.002,26.925,265.448,0.000,0.000,19.339,353.046,0.000,111.600,778.014,378.531,0.000,325.624,0.000,293.774,0.000,0.544,0.000
$DEVICE_MAMPS,99.450,1220.175,1245.420,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.444,323.348,255.793,379.570,495.961,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,10793,119
$CAP_FILE_SIZE,26485,0
$CFSIZE,1024409600,906657792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050917,022914,6000.723,-17235.293,9,0.8,18,7.6,0.0,20.7,11,4.8