version: 66.13
glider: 401
mission: 22
dive: 2297
start: 9 5 117 2 48 44
data:
$ID,401
$MISSION,22
$DIVE,2297
$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,32
$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
$GPS1,050917,022914,6000.7227,-17235.2930,9,0.8,18,7.6,0.0,20.7,11,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-2.2
$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,12,-1.80,-487.5,2391,1946,2364,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.019,0.000,1834,1946,2364,2364,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.37,51.96
$GC,25,-1.80,-487.5,1833,1946,2364,4094,0.1,0.0,1,39,0.50,1.20,-6.22,0.000,20740,0.029,1.221,1772,2379,3056,3056,4095,0,0,0,0,0,0,26.19,24.19,26.21,10.37,51.81
$GC,110,-1.80,-487.5,1771,2378,3058,4095,11.4,-18.1,14,117,0.00,1.05,0.00,0.000,1030,0.000,0.030,1772,1960,3059,3059,4095,0,0,0,0,0,0,26.10,26.07,26.13,10.52,52.20
$GC,152,-1.80,-487.5,1771,1959,3060,4095,19.2,-18.6,20,158,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1960,3060,3060,4094,0,0,0,0,0,0,26.46,26.46,26.46,10.52,52.00
$GC,193,-1.80,-487.5,1771,1960,3061,4094,26.3,-16.5,26,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1959,3061,3061,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.51,51.57
$GC,234,-1.80,-487.5,1771,1959,3062,4095,32.0,-14.1,32,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1960,3062,3062,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.48,51.73
$GC,275,-1.80,-487.5,1771,1959,3063,4095,37.6,-14.3,38,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1959,3063,3063,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.45,51.26
$GC,316,-1.80,-487.5,1771,1959,3064,4095,43.5,-14.6,44,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1959,3065,3065,4095,0,0,0,0,0,0,26.55,26.57,26.56,10.45,50.31
$GC,357,-1.80,-487.5,1771,1959,3066,4095,49.3,-14.6,50,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1959,3066,3066,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.43,49.88
$STATE,392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,392,begin apogee
$GC,405,-0.45,0.0,1771,2148,3067,4095,55.3,-15.1,56,442,4.50,0.00,28.17,1.245,10244,0.054,0.000,2187,2148,2484,2484,4095,0,0,0,0,0,0,26.11,25.32,24.20,10.42,48.58
$STATE,443,end apogee,CONTROL_FINISHED_OK
$STATE,443,begin climb
$GC,448,1.80,487.5,2187,2148,2484,4095,59.3,0.0,62,490,7.55,0.00,27.95,1.219,11270,0.030,0.000,2899,2148,1915,1915,4094,0,0,0,0,0,0,25.68,25.85,23.82,10.30,48.03
$GC,525,1.80,487.5,2899,2148,1914,4094,53.6,11.9,74,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2148,1914,1914,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.16,46.81
$GC,567,1.80,487.5,2899,2148,1912,4094,48.3,12.6,80,573,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2148,1912,1912,4094,0,0,0,0,0,0,25.86,25.86,25.86,10.16,46.73
$GC,608,1.80,487.5,2899,2147,1911,4094,43.1,12.7,86,615,0.00,1.17,0.00,0.000,516,0.000,0.044,2900,1707,1911,1911,4094,0,0,0,0,0,0,25.98,25.58,26.00,10.16,46.88
$GC,716,1.80,487.5,2899,1706,1909,4094,29.8,12.3,103,722,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2125,1908,1908,4094,0,0,0,0,0,0,25.92,25.88,25.95,10.15,47.79
$GC,758,1.80,487.5,2899,2124,1907,4094,24.7,12.2,109,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2125,1907,1907,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.16,48.74
$GC,799,1.80,487.5,2899,2125,1906,4094,20.0,11.0,115,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2125,1905,1905,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.20,49.64
$GC,840,1.84,511.6,2899,2124,1905,4094,15.8,10.4,121,847,0.00,0.00,2.72,0.246,8198,0.000,0.000,2899,2125,1887,1887,4094,0,0,0,0,0,0,26.36,25.34,24.31,10.22,51.77
$GC,883,1.89,545.9,2899,2125,1886,4094,11.5,10.3,127,890,0.20,0.00,3.62,0.373,10246,0.047,0.000,2930,2125,1847,1847,4094,0,0,0,0,0,0,26.16,25.47,24.52,10.22,51.96
$GC,925,1.89,545.9,2930,2125,1846,4094,6.8,11.4,133,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2125,1846,1846,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.22,52.36
$STATE,961,end climb,FINISH_DEPTH_REACHED
$STATE,961,begin subsurface finish
$FINISH1,1.8,1.024093,105
$GC,975,0.16,105.0,2930,2124,1844,4094,1.8,11.8,139,994,5.55,1.20,-4.62,0.000,20996,0.021,1.232,2389,1703,2368,2368,4094,0,0,0,0,0,0,26.15,24.13,26.20,10.23,53.30
$FINISH2,0.2
$STATE,995,end subsurface finish,CONTROL_FINISHED_OK
$STATE,995,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050917,011441
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.81
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.82,67.214
$10V_AH,10.34,61.374
$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,23.925,6.625,62.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,373.438,212.398,140.252,207.704,124.170,0.000,302.853,0.000,215.800,0.000,0.544,0.000
$DEVICE_MAMPS,54.315,1231.650,1245.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.502,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330648
$DATA_FILE_SIZE,10869,142
$CAP_FILE_SIZE,25706,0
$CFSIZE,1024409600,906608640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,022914,6000.723,-17235.293,9,0.8,18,7.6,0.0,20.7,11,4.8