version: 66.13
glider: 401
mission: 22
dive: 2308
start: 9 5 117 7 3 42
data:
$ID,401
$MISSION,22
$DIVE,2308
$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,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
$GPS1,050917,065303,5959.9199,-17228.7578,4,0.9,27,7.6,0.2,143.7,9,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-38.6
$GPS2,050917,070303,5959.9009,-17228.6953,5,0.9,15,7.6,0.0,0.0,9,4.9
$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,115.1,20622,-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,-487.5,237,1985,1711,4092,0.0,0.0,0,21,8.50,0.00,0.00,0.000,2049,0.093,0.000,952,1985,1711,1711,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.25,51.45
$GC,28,-1.80,-487.5,951,1984,1711,4094,0.7,0.0,1,55,8.62,1.00,-12.45,0.000,18692,0.044,1.219,1753,2347,3054,3054,4095,0,0,0,0,0,0,25.90,23.96,25.95,10.25,52.24
$GC,129,-1.80,-487.5,1753,2347,3056,4095,8.6,-15.5,14,138,0.00,1.00,0.00,0.000,1030,0.000,0.030,1753,1947,3056,3056,4095,0,0,0,0,0,0,26.01,25.96,26.03,10.54,51.45
$GC,180,-1.80,-487.5,1753,1948,3058,4095,17.8,-18.7,20,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3059,3059,4095,0,0,0,0,0,0,26.39,26.40,26.40,10.54,51.10
$GC,228,-1.80,-487.5,1753,1948,3059,4095,27.0,-18.6,26,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3059,3059,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.52,51.45
$GC,278,-1.80,-487.5,1753,1948,3061,4095,34.5,-13.5,32,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3061,3061,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.48,50.11
$GC,327,-1.80,-487.5,1752,1948,3062,4094,41.7,-15.2,38,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3062,3062,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.45,49.60
$GC,377,-1.80,-487.5,1753,1948,3063,4095,49.2,-14.7,44,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.44,47.71
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,426,-0.45,0.0,1753,2118,3065,4094,55.7,-15.1,49,462,4.68,0.00,28.35,1.252,10244,0.055,0.000,2185,2118,2484,2484,4094,0,0,0,0,0,0,26.06,25.26,24.10,10.42,47.71
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,469,1.80,487.5,2185,2118,2484,4094,60.3,0.0,53,514,7.62,0.00,28.05,1.230,11270,0.030,0.000,2901,2119,1915,1915,4095,0,0,0,0,0,0,25.63,25.82,23.77,10.31,47.20
$GC,556,1.80,487.5,2901,2118,1914,4095,53.9,12.2,63,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1914,1914,4094,0,0,0,0,0,0,25.69,25.70,25.70,10.17,45.51
$GC,606,1.80,487.5,2901,2118,1913,4094,47.7,12.8,69,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2118,1912,1912,4094,0,0,0,0,0,0,25.90,25.91,25.91,10.16,45.35
$GC,655,1.80,487.5,2901,2118,1911,4094,41.4,12.8,75,665,0.00,1.08,0.00,0.000,516,0.000,0.044,2901,1712,1912,1912,4094,0,0,0,0,0,0,26.04,25.64,26.06,10.15,45.86
$GC,783,1.80,487.5,2901,1711,1907,4094,24.4,11.4,93,792,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2134,1907,1907,4094,0,0,0,0,0,0,25.98,25.94,26.00,10.18,47.12
$GC,834,1.90,550.0,2901,2133,1906,4094,19.5,9.8,99,843,0.22,0.00,4.75,0.522,10246,0.043,0.000,2935,2134,1841,1841,4094,0,0,0,0,0,0,26.09,25.44,24.44,10.21,49.76
$GC,885,1.90,554.2,2934,2133,1840,4094,14.2,10.7,105,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2134,1840,1840,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.21,50.98
$GC,934,1.90,554.2,2934,2133,1838,4094,8.5,11.7,111,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2134,1838,1838,4094,0,0,0,0,0,0,26.39,26.39,26.39,10.22,51.85
$GC,984,1.90,554.2,2934,2133,1837,4094,2.5,11.7,117,993,0.00,1.12,0.00,0.000,516,0.000,0.047,2935,1706,1837,1837,4095,0,0,0,0,0,0,26.43,25.95,26.44,10.23,51.89
$STATE,1001,end climb,FINISH_DEPTH_REACHED
$STATE,1001,begin subsurface finish
$FINISH1,0.0,1.011200,0
$GC,1016,0.00,0.0,2934,2139,1836,4094,0.0,10.9,119,1036,5.95,1.20,-5.97,0.000,20996,0.023,1.234,2348,1709,2492,2492,4094,0,0,0,0,0,0,26.18,24.13,26.22,10.23,52.12
$FINISH2,0.1
$STATE,1037,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1037,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050917,054744
$TT8_MAMPS,0.024717,0.246421
$HUMID,52.40
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.77,67.518
$10V_AH,10.04,61.625
$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,35.600,7.950,61.150,0.000,0.000,26.075,20.238,264.156,0.000,0.000,16.970,364.727,0.000,119.505,771.231,385.628,0.000,343.697,0.000,298.904,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1233.945,1252.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.779,328.725,260.144,385.689,503.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329324
$DATA_FILE_SIZE,10973,121
$CAP_FILE_SIZE,28259,0
$CFSIZE,1024409600,906067968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,070303,5959.901,-17228.695,5,0.9,15,7.6,0.0,0.0,9,4.9