version: 66.13
glider: 401
mission: 22
dive: 2315
start: 9 5 117 9 50 7
data:
$ID,401
$MISSION,22
$DIVE,2315
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,050917,093014,5958.7637,-17226.9316,9,0.8,18,7.7,0.0,243.8,10,4.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-2.6
$GPS2,050917,093014,5958.7637,-17226.9316,9,0.8,18,7.7,0.0,243.8,10,4.7
$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,112.2,18127,-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,-487.5,2389,1941,2370,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.023,0.000,1832,1941,2370,2370,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.36,52.32
$GC,25,-1.80,-487.5,1832,1941,2370,4094,0.0,0.0,1,39,0.50,1.25,-6.40,0.000,20740,0.036,1.224,1775,2385,3052,3052,4095,0,0,0,0,0,0,26.13,24.15,26.16,10.36,52.48
$GC,68,-1.80,-487.5,1774,2385,3051,4095,2.2,-8.0,7,75,0.00,1.08,0.00,0.000,1030,0.000,0.031,1774,1956,3052,3052,4095,0,0,0,0,0,0,26.05,26.01,26.08,10.51,52.36
$GC,110,-1.80,-487.5,1774,1955,3053,4095,8.4,-15.9,13,116,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1955,3053,3053,4094,0,0,0,0,0,0,26.41,26.43,26.42,10.51,52.71
$GC,151,-1.80,-487.5,1774,1955,3054,4094,15.4,-16.9,19,157,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1956,3055,3055,4095,0,0,0,0,0,0,26.44,26.46,26.46,10.52,51.96
$GC,192,-1.80,-487.5,1774,1956,3056,4095,22.6,-17.5,25,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1956,3056,3056,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.52,51.96
$GC,233,-1.80,-487.5,1774,1955,3057,4094,30.1,-18.3,31,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1956,3058,3058,4094,0,0,0,0,0,0,26.50,26.51,26.51,10.51,52.08
$GC,274,-1.80,-487.5,1774,1955,3058,4094,36.1,-14.0,37,280,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1956,3059,3059,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.47,51.37
$GC,315,-1.80,-487.5,1774,1955,3060,4095,41.9,-14.2,43,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1955,3060,3060,4094,0,0,0,0,0,0,26.54,26.56,26.55,10.44,51.53
$GC,356,-1.80,-487.5,1774,1956,3061,4094,47.6,-13.4,49,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1955,3061,3061,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.43,50.00
$GC,398,-1.80,-487.5,1774,1955,3062,4095,53.3,-13.4,55,404,0.00,1.10,0.00,0.000,516,0.000,0.050,1775,1521,3062,3062,4095,0,0,0,0,0,0,26.58,26.08,26.60,10.42,49.64
$STATE,409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,409,begin apogee
$GC,423,-0.45,0.0,1774,2139,3063,4094,55.7,-13.8,57,459,4.45,0.00,28.08,1.246,10244,0.054,0.000,2186,2139,2484,2484,4095,0,0,0,0,0,0,26.11,25.31,24.18,10.41,49.17
$STATE,460,end apogee,CONTROL_FINISHED_OK
$STATE,461,begin climb
$GC,466,1.80,487.5,2186,2139,2484,4095,59.7,0.0,63,508,7.55,0.00,27.98,1.225,11270,0.029,0.000,2899,2139,1915,1915,4094,0,0,0,0,0,0,25.68,25.85,23.80,10.29,48.70
$GC,544,1.80,487.5,2898,2138,1914,4094,53.9,12.1,75,550,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2139,1914,1914,4094,0,0,0,0,0,0,25.65,25.67,25.67,10.16,46.88
$GC,585,1.80,487.5,2898,2138,1914,4094,48.7,12.8,81,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2139,1913,1913,4094,0,0,0,0,0,0,25.84,25.86,25.86,10.16,47.16
$GC,626,1.80,487.5,2898,2138,1912,4094,43.6,12.0,87,633,0.00,1.12,0.00,0.000,516,0.000,0.044,2899,1717,1912,1912,4094,0,0,0,0,0,0,25.98,25.57,25.99,10.15,46.73
$GC,821,1.94,576.2,2898,1716,1907,4094,21.6,9.4,118,834,0.38,1.00,6.15,0.627,11270,0.028,0.028,2943,2130,1810,1810,4094,0,0,0,0,0,0,26.03,25.99,24.47,10.21,50.59
$GC,870,1.94,576.2,2943,2130,1810,4094,16.3,11.3,125,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2130,1809,1809,4094,0,0,0,0,0,0,26.29,26.31,26.31,10.20,51.81
$GC,911,1.94,576.2,2943,2130,1808,4094,11.3,12.0,131,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2130,1808,1808,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.20,52.55
$GC,952,1.94,576.2,2943,2130,1807,4094,6.0,12.7,137,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2130,1807,1807,4094,0,0,0,0,0,0,26.39,26.40,26.39,10.22,53.30
$STATE,982,end climb,FINISH_DEPTH_REACHED
$STATE,982,begin subsurface finish
$FINISH1,1.5,1.024129,102
$GC,995,0.15,102.5,2943,2130,1805,4094,1.5,12.9,142,1009,5.65,0.00,-4.93,0.000,20486,0.017,0.000,2386,2130,2369,2369,4094,0,0,0,0,0,0,26.17,24.41,26.21,10.22,53.38
$FINISH2,0.3
$STATE,1010,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1010,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,092320
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.46
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.80,67.725
$10V_AH,10.33,61.771
$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,24.150,7.600,62.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.395,213.797,141.837,209.811,129.916,0.000,305.447,0.000,218.781,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1224.000,1246.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330664
$DATA_FILE_SIZE,10749,144
$CAP_FILE_SIZE,25724,0
$CFSIZE,1024409600,905723904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,093014,5958.764,-17226.932,9,0.8,18,7.7,0.0,243.8,10,4.7