version: 66.13
glider: 401
mission: 22
dive: 2305
start: 9 5 117 5 54 45
data:
$ID,401
$MISSION,22
$DIVE,2305
$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,37
$R_STBD_OVSHOOT,57
$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
$GPS1,050917,054306,6000.3691,-17230.4219,4,0.9,16,7.6,0.5,69.8,9,4.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-42.0
$GPS2,050917,055406,6000.3677,-17230.2891,8,0.8,17,7.6,0.4,86.4,10,5.0
$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,114.9,22335,-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,-487.5,237,1983,1841,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.097,0.000,705,1984,1841,1841,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.27,51.10
$GC,25,-1.80,-487.5,705,1983,1841,4094,0.8,0.0,1,55,11.62,0.00,-11.25,0.000,18950,0.061,0.000,1753,1983,3054,3054,4094,0,0,0,0,0,0,25.91,25.37,25.95,10.28,50.94
$GC,90,-1.80,-487.5,1752,1983,3055,4094,4.4,-13.3,11,96,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1984,3056,3056,4095,0,0,0,0,0,0,26.25,26.26,26.26,10.54,51.10
$GC,131,-1.80,-487.5,1752,1983,3057,4095,11.9,-18.5,17,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1983,3057,3057,4094,0,0,0,0,0,0,26.30,26.32,26.32,10.54,51.29
$GC,172,-1.80,-487.5,1752,1983,3058,4094,19.6,-18.7,23,179,0.00,1.17,0.00,0.000,516,0.000,0.045,1753,1526,3059,3059,4095,0,0,0,0,0,0,26.35,25.89,26.36,10.55,50.59
$GC,220,-1.80,-487.5,1752,1526,3060,4095,28.4,-17.8,30,226,0.00,0.93,0.00,0.000,1030,0.000,0.026,1753,1929,3060,3060,4094,0,0,0,0,0,0,26.13,26.10,26.14,10.52,50.43
$GC,262,-1.80,-487.5,1752,1929,3061,4094,34.6,-15.5,36,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1929,3061,3061,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.49,49.72
$GC,303,-1.80,-487.5,1752,1929,3063,4094,41.3,-16.9,42,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1929,3063,3063,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.47,49.40
$GC,344,-1.80,-487.5,1752,1929,3064,4095,48.1,-16.3,48,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1929,3064,3064,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.45,48.26
$GC,385,-1.80,-487.5,1752,1929,3065,4094,54.6,-15.4,54,392,0.00,1.12,0.00,0.000,260,0.000,0.044,1753,2359,3065,3065,4095,0,0,0,0,0,0,26.51,26.03,26.53,10.44,48.30
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,410,-0.45,0.0,1753,2114,3066,4094,57.3,-15.7,56,446,4.70,0.00,28.35,1.267,10244,0.054,0.000,2186,2113,2484,2484,4094,0,0,0,0,0,0,26.03,25.23,24.08,10.43,47.75
$STATE,447,end apogee,CONTROL_FINISHED_OK
$STATE,447,begin climb
$GC,453,1.80,487.5,2186,2112,2484,4094,61.5,0.0,62,496,7.53,0.93,28.08,1.243,10756,0.028,0.041,2904,1742,1915,1915,4094,0,0,0,0,0,0,25.53,25.48,23.75,10.30,46.85
$GC,612,1.80,487.5,2904,1741,1912,4094,45.9,12.4,87,619,0.00,0.93,0.00,0.000,1030,0.000,0.028,2904,2121,1912,1912,4094,0,0,0,0,0,0,25.69,25.65,25.72,10.16,46.37
$GC,654,1.80,487.5,2904,2121,1911,4094,41.1,11.7,93,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1911,1911,4094,0,0,0,0,0,0,26.08,26.08,26.08,10.16,46.25
$GC,695,1.80,487.5,2904,2121,1910,4094,36.5,11.5,99,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1910,1910,4094,0,0,0,0,0,0,26.15,26.17,26.17,10.16,46.69
$GC,736,1.80,487.5,2904,2121,1909,4094,31.4,12.6,105,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1909,1909,4094,0,0,0,0,0,0,26.22,26.24,26.23,10.17,47.12
$GC,777,1.80,487.5,2904,2120,1908,4094,26.8,11.1,111,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.21,48.54
$GC,818,1.80,487.5,2904,2121,1907,4094,22.3,11.0,117,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1907,1907,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.22,50.19
$GC,859,1.80,487.5,2904,2121,1905,4094,17.8,11.4,123,865,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2121,1905,1905,4094,0,0,0,0,0,0,26.37,26.38,26.37,10.23,51.26
$GC,900,1.80,487.5,2904,2120,1905,4094,13.3,11.2,129,907,0.00,0.98,0.00,0.000,516,0.000,0.044,2904,1746,1904,1904,4094,0,0,0,0,0,0,26.41,25.96,26.41,10.24,51.92
$STATE,1002,end climb,FINISH_DEPTH_REACHED
$STATE,1003,begin subsurface finish
$FINISH1,1.5,1.024147,101
$GC,1017,0.15,101.2,2904,2141,1901,4094,1.5,10.9,146,1031,5.30,0.00,-4.28,0.000,20486,0.026,0.000,2391,2141,2373,2373,4094,0,0,0,0,0,0,26.19,24.44,26.24,10.25,52.48
$FINISH2,0.0
$STATE,1032,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1032,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,043932
$TT8_MAMPS,0.025466,0.159537
$HUMID,52.87
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.75,67.437
$10V_AH,10.18,61.550
$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,34.775,7.575,56.425,0.000,0.000,25.108,29.420,309.153,0.000,0.000,19.099,391.284,218.751,149.471,528.743,406.800,0.000,323.097,0.000,226.050,0.000,0.543,0.000
$DEVICE_MAMPS,97.155,45.135,1266.840,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.409,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329348
$DATA_FILE_SIZE,10775,148
$CAP_FILE_SIZE,30692,0
$CFSIZE,1024409600,906215424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050917,055406,6000.368,-17230.289,8,0.8,17,7.6,0.4,86.4,10,5.0