version: 66.13
glider: 401
mission: 22
dive: 2303
start: 9 5 117 5 5 24
data:
$ID,401
$MISSION,22
$DIVE,2303
$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
$GPS1,050917,044517,6000.6626,-17232.2012,5,0.8,37,7.6,0.3,82.2,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-2.2
$GPS2,050917,044517,6000.6626,-17232.2012,5,0.8,37,7.6,0.3,82.2,11,4.9
$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,113.8,24131,-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,-487.5,2385,1943,2366,4093,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.022,0.000,1829,1943,2366,2366,4094,0,0,0,0,0,0,26.46,28.83,28.83,10.36,51.96
$GC,25,-1.80,-487.5,1828,1943,2366,4094,0.0,0.0,1,39,0.43,1.23,-6.25,0.000,20740,0.031,1.224,1775,2375,3056,3056,4094,0,0,0,0,0,0,26.21,24.19,26.22,10.36,52.95
$GC,98,-1.80,-487.5,1774,2375,3058,4094,8.8,-17.0,12,104,0.00,1.05,0.00,0.000,1030,0.000,0.031,1775,1954,3058,3058,4095,0,0,0,0,0,0,26.08,26.06,26.12,10.51,52.16
$GC,140,-1.80,-487.5,1774,1955,3059,4095,16.2,-17.9,18,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1955,3059,3059,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.51,52.28
$GC,181,-1.80,-487.5,1774,1954,3060,4095,23.6,-17.7,24,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3060,3060,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.52,52.67
$GC,222,-1.80,-487.5,1773,1954,3061,4095,30.3,-15.4,30,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1954,3062,3062,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.49,52.32
$GC,263,-1.80,-487.5,1774,1954,3062,4095,35.7,-13.7,36,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3062,3062,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.47,51.33
$GC,304,-1.80,-487.5,1774,1954,3064,4094,41.3,-14.0,42,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3064,3064,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.44,50.63
$GC,345,-1.80,-487.5,1774,1954,3065,4095,47.0,-14.3,48,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3065,3065,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.43,49.84
$GC,386,-1.80,-487.5,1774,1954,3066,4095,52.9,-14.6,54,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1954,3066,3066,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.41,49.52
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,409,-0.45,0.0,1775,2144,3067,4095,55.3,-13.9,56,446,4.43,0.00,28.25,1.244,10244,0.053,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.12,25.32,24.18,10.41,48.62
$STATE,447,end apogee,CONTROL_FINISHED_OK
$STATE,447,begin climb
$GC,452,1.80,487.5,2186,2144,2484,4094,59.0,0.0,62,494,7.55,0.00,27.98,1.219,11270,0.030,0.000,2900,2144,1915,1915,4095,0,0,0,0,0,0,25.67,25.85,23.83,10.29,48.14
$GC,529,1.80,487.5,2899,2144,1915,4095,53.4,11.3,74,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2144,1914,1914,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.16,46.65
$GC,571,1.80,487.5,2899,2144,1913,4094,48.4,12.7,80,578,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1716,1913,1913,4094,0,0,0,0,0,0,25.86,25.46,25.86,10.16,46.77
$GC,697,1.80,487.5,2899,1715,1910,4094,33.0,12.5,100,703,0.00,1.02,0.00,0.000,1030,0.000,0.030,2900,2133,1909,1909,4095,0,0,0,0,0,0,25.85,25.84,25.90,10.14,47.59
$GC,739,1.80,487.5,2899,2132,1908,4095,27.6,13.0,106,745,0.00,1.15,0.00,0.000,260,0.000,0.052,2900,2560,1908,1908,4094,0,0,0,0,0,0,26.24,25.77,26.25,10.16,48.42
$GC,816,1.80,487.5,2899,2560,1906,4094,19.4,11.0,118,823,0.00,0.93,0.00,0.000,1030,0.000,0.026,2900,2175,1906,1906,4094,0,0,0,0,0,0,26.08,26.06,26.10,10.21,50.66
$GC,859,1.81,494.4,2899,2175,1905,4094,14.9,10.7,124,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2175,1905,1905,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.22,51.61
$GC,900,1.81,494.4,2900,2175,1904,4094,10.4,11.2,130,906,0.00,1.17,0.00,0.000,516,0.000,0.046,2900,1718,1904,1904,4094,0,0,0,0,0,0,26.41,25.95,26.42,10.23,52.71
$STATE,972,end climb,FINISH_DEPTH_REACHED
$STATE,972,begin subsurface finish
$FINISH1,2.0,1.024168,100
$GC,987,0.15,99.8,2900,2138,1901,4094,2.0,10.7,142,1000,5.25,0.00,-4.05,0.000,20486,0.026,0.000,2385,2138,2376,2376,4095,0,0,0,0,0,0,26.20,24.45,26.25,10.23,53.74
$FINISH2,0.3
$STATE,1001,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1001,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,033115
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.15
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.83,67.375
$10V_AH,10.33,61.505
$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,23.300,9.750,56.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,379.467,222.147,133.002,210.170,119.340,0.000,293.190,0.000,218.804,0.000,0.543,0.000
$DEVICE_MAMPS,52.785,1224.000,1243.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330712
$DATA_FILE_SIZE,10866,144
$CAP_FILE_SIZE,25184,0
$CFSIZE,1024409600,906313728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,044517,6000.663,-17232.201,5,0.8,37,7.6,0.3,82.2,11,4.9