version: 66.13
glider: 401
mission: 22
dive: 2300
start: 9 5 117 3 57 5
data:
$ID,401
$MISSION,22
$DIVE,2300
$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,27
$R_STBD_OVSHOOT,29
$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,0.04
$_SM_ANGLEo,-1.9
$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,5,begin dive
$GC,12,-1.80,-487.5,2390,1953,2367,4091,0.0,0.0,0,23,6.40,0.00,-2.00,0.000,20482,0.021,0.000,1759,1954,2581,2581,4095,0,0,0,0,0,0,26.24,28.83,26.28,10.36,52.87
$GC,29,-1.80,-487.5,1759,1953,2581,4095,0.1,0.0,1,39,0.00,1.23,-4.40,0.000,16644,0.000,1.232,1759,2377,3056,3056,4095,0,0,0,0,0,0,26.51,24.20,26.51,10.40,52.44
$GC,170,-1.80,-487.5,1758,2377,3060,4095,21.8,-19.2,21,179,0.00,1.08,0.00,0.000,1030,0.000,0.030,1759,1945,3061,3061,4094,0,0,0,0,0,0,26.18,26.14,26.21,10.52,52.36
$GC,219,-1.80,-487.5,1758,1945,3062,4094,30.1,-15.0,27,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1945,3062,3062,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.49,53.11
$GC,267,-1.80,-487.5,1758,1945,3063,4095,37.1,-14.6,33,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1945,3063,3063,4095,0,0,0,0,0,0,26.58,26.59,26.58,10.46,51.37
$GC,315,-1.80,-487.5,1758,1945,3064,4095,44.4,-14.9,39,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1945,3065,3065,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.44,50.19
$GC,364,-1.80,-487.5,1758,1945,3066,4095,51.6,-14.7,45,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,1945,3067,3067,4095,0,0,0,0,0,0,26.61,26.63,26.63,10.43,49.84
$STATE,387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,387,begin apogee
$GC,400,-0.45,0.0,1759,2145,3067,4095,56.1,-15.4,48,436,4.60,0.00,28.38,1.252,10244,0.055,0.000,2184,2145,2484,2484,4094,0,0,0,0,0,0,26.14,25.33,24.20,10.42,49.33
$STATE,437,end apogee,CONTROL_FINISHED_OK
$STATE,437,begin climb
$GC,443,1.80,487.5,2184,2145,2484,4094,60.4,0.0,52,487,7.65,0.00,27.90,1.230,11270,0.031,0.000,2901,2145,1919,1919,4094,0,0,0,0,0,0,25.69,25.87,23.83,10.29,48.03
$GC,528,1.80,487.5,2900,2145,1918,4094,54.2,12.2,62,538,0.00,1.12,0.00,0.000,516,0.000,0.041,2902,1721,1917,1917,4094,0,0,0,0,0,0,25.72,25.35,25.72,10.17,46.73
$GC,649,1.80,487.5,2901,1720,1914,4094,37.8,13.9,79,659,0.00,1.00,0.00,0.000,1030,0.000,0.029,2902,2130,1914,1914,4094,0,0,0,0,0,0,25.81,25.79,25.84,10.15,47.44
$GC,699,1.80,487.5,2901,2129,1912,4094,31.3,13.4,85,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1912,1912,4094,0,0,0,0,0,0,26.20,26.21,26.21,10.15,47.59
$GC,748,1.80,487.5,2901,2129,1911,4094,25.5,11.6,91,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2130,1911,1911,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.18,48.46
$GC,796,1.84,512.6,2901,2129,1910,4094,20.5,10.4,97,806,0.00,0.00,3.00,0.316,8198,0.000,0.000,2902,2130,1886,1886,4094,0,0,0,0,0,0,26.33,24.95,24.30,10.21,50.11
$GC,847,1.88,537.9,2901,2129,1885,4094,15.4,10.4,103,857,0.15,0.00,2.88,0.272,10246,0.055,0.000,2928,2130,1863,1863,4094,0,0,0,0,0,0,26.15,25.03,24.41,10.22,51.65
$GC,898,1.88,537.9,2927,2129,1861,4094,9.6,11.6,109,908,0.00,0.00,0.08,0.004,8198,0.000,0.000,2928,2130,1861,1861,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.22,52.44
$GC,949,1.88,537.9,2927,2129,1860,4094,3.6,12.1,115,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2130,1860,1860,4094,0,0,0,0,0,0,26.44,26.45,26.44,10.23,52.40
$STATE,965,end climb,FINISH_DEPTH_REACHED
$STATE,965,begin subsurface finish
$FINISH1,0.9,1.024105,104
$GC,978,0.16,104.2,2927,2129,1859,4094,0.9,11.7,117,996,5.50,0.00,-4.57,0.000,20998,0.021,0.000,2389,2130,2363,2363,4095,0,0,0,0,0,0,26.17,25.47,26.22,10.24,52.24
$FINISH2,0.1
$STATE,997,end subsurface finish,CONTROL_FINISHED_OK
$STATE,997,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050917,022333
$TT8_MAMPS,0.025466,0.248668
$HUMID,52.79
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.83,67.296
$10V_AH,10.07,61.448
$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,24.300,5.375,62.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,340.522,0.000,106.101,498.504,114.727,0.000,312.585,0.000,293.117,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1231.650,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.544,323.341,255.859,379.021,496.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,10833,119
$CAP_FILE_SIZE,22815,0
$CFSIZE,1024409600,906461184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,033731,6000.807,-17233.902,8,0.8,18,7.6,0.5,4.5,10,5.0