version: 66.13
glider: 401
mission: 22
dive: 2306
start: 9 5 117 6 14 3
data:
$ID,401
$MISSION,22
$DIVE,2306
$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,34
$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
$GPS1,050917,055406,6000.3677,-17230.2891,8,0.8,17,7.6,0.4,86.4,10,5.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.6
$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,6,begin dive
$GC,12,-1.80,-487.5,2390,1975,2373,4092,0.0,0.0,0,22,6.40,0.00,-1.10,0.000,20482,0.021,0.000,1757,1975,2492,2492,4094,0,0,0,0,0,0,26.28,28.83,26.32,10.37,53.03
$GC,28,-1.80,-487.5,1757,1975,2492,4094,0.0,0.0,1,38,0.00,0.00,-5.38,0.000,16390,0.000,0.000,1757,1975,3056,3056,4094,0,0,0,0,0,0,26.53,24.53,26.54,10.38,52.44
$GC,77,-1.80,-487.5,1756,1975,3057,4094,3.6,-12.5,7,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1975,3058,3058,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.51,53.11
$GC,125,-1.80,-487.5,1756,1975,3059,4094,12.2,-18.5,13,135,0.00,1.12,0.00,0.000,516,0.000,0.048,1757,1530,3059,3059,4095,0,0,0,0,0,0,26.53,26.06,26.55,10.51,52.52
$GC,200,-1.80,-487.5,1756,1529,3062,4095,26.2,-18.6,23,209,0.00,1.00,0.00,0.000,1030,0.000,0.028,1757,1951,3062,3062,4095,0,0,0,0,0,0,26.29,26.23,26.29,10.52,52.32
$GC,251,-1.80,-487.5,1756,1950,3063,4095,34.0,-14.2,29,260,0.00,1.10,0.00,0.000,260,0.000,0.046,1757,2373,3063,3063,4095,0,0,0,0,0,0,26.59,26.11,26.60,10.50,52.48
$GC,367,-1.80,-487.5,1756,2374,3066,4095,50.0,-14.4,45,376,0.00,0.90,0.00,0.000,1030,0.000,0.027,1757,2004,3066,3066,4094,0,0,0,0,0,0,26.34,26.31,26.36,10.43,49.96
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,410,-0.45,0.0,1757,2144,3067,4095,55.2,-13.8,49,446,4.62,0.00,28.38,1.252,10244,0.054,0.000,2186,2144,2484,2484,4095,0,0,0,0,0,0,26.17,25.34,24.19,10.42,49.09
$STATE,447,end apogee,CONTROL_FINISHED_OK
$STATE,447,begin climb
$GC,453,1.80,487.5,2186,2144,2484,4095,59.3,0.0,53,497,7.60,0.00,27.92,1.223,11270,0.030,0.000,2901,2144,1916,1916,4094,0,0,0,0,0,0,25.70,25.89,23.84,10.29,48.34
$GC,539,1.80,487.5,2900,2144,1915,4094,52.7,12.7,63,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1914,1914,4094,0,0,0,0,0,0,25.72,25.74,25.73,10.16,47.12
$GC,589,1.80,487.5,2901,2144,1913,4094,45.8,14.0,69,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2144,1913,1913,4094,0,0,0,0,0,0,25.92,25.94,25.94,10.15,46.73
$GC,639,1.80,487.5,2901,2143,1911,4094,39.0,13.7,75,648,0.00,1.12,0.00,0.000,516,0.000,0.044,2901,1721,1911,1911,4095,0,0,0,0,0,0,26.06,25.64,26.08,10.15,46.53
$GC,755,1.80,487.5,2900,1721,1908,4095,24.6,11.1,91,764,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2133,1908,1908,4094,0,0,0,0,0,0,25.97,25.95,26.01,10.19,48.03
$GC,805,1.82,497.1,2901,2132,1907,4094,19.4,10.6,97,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2133,1907,1907,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.21,50.23
$GC,855,1.84,513.6,2901,2132,1905,4094,13.9,10.5,103,865,0.00,0.00,2.85,0.262,8198,0.000,0.000,2901,2132,1884,1884,4094,0,0,0,0,0,0,26.39,24.96,24.34,10.22,51.14
$GC,906,1.84,513.6,2901,2132,1883,4094,8.4,10.9,109,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2133,1883,1883,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.23,52.04
$GC,955,1.84,513.6,2901,2132,1882,4094,2.9,10.9,115,971,0.00,1.08,0.00,0.000,516,0.000,0.047,2901,1715,1881,1881,4094,0,0,0,0,0,0,26.44,25.98,26.46,10.23,52.12
$STATE,979,end climb,FINISH_DEPTH_REACHED
$STATE,979,begin subsurface finish
$FINISH1,0.0,1.000855,0
$GC,994,0.00,0.0,2901,2144,1881,4094,0.0,9.9,117,1013,5.57,0.00,-5.53,0.000,20486,0.021,0.000,2354,2144,2486,2486,4094,0,0,0,0,0,0,26.19,25.49,26.23,10.24,53.15
$FINISH2,0.1
$STATE,1014,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1014,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,043932
$TT8_MAMPS,0.026215,0.25466
$HUMID,52.48
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.84,67.457
$10V_AH,10.05,61.578
$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,24.200,9.150,59.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,349.768,0.000,108.007,497.780,120.498,0.000,318.948,0.000,292.179,0.000,0.543,0.000
$DEVICE_MAMPS,54.315,48.195,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.684,323.357,255.838,379.308,495.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330692
$DATA_FILE_SIZE,10841,119
$CAP_FILE_SIZE,23439,0
$CFSIZE,1024409600,906166272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,955.43,0x236164,1,24
$GPS,050917,055406,6000.368,-17230.289,8,0.8,17,7.6,0.4,86.4,10,5.0