version: 66.13
glider: 401
mission: 22
dive: 2317
start: 9 5 117 10 39 52
data:
$ID,401
$MISSION,22
$DIVE,2317
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,050917,102824,5958.3467,-17226.4414,4,0.9,17,7.7,0.3,262.6,10,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-43.0
$GPS2,050917,103913,5958.3057,-17226.6289,5,0.9,18,7.7,0.5,191.1,10,4.9
$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,110.3,17470,-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,-487.5,230,1941,1801,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,2049,0.090,0.000,703,1940,1801,1801,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.27,51.37
$GC,25,-1.80,-487.5,703,1939,1801,4094,0.7,0.0,1,55,11.35,0.00,-11.68,0.000,18438,0.044,0.000,1755,1939,3053,3053,4094,0,0,0,0,0,0,25.93,25.35,26.00,10.27,51.57
$GC,90,-1.80,-487.5,1754,1939,3054,4094,3.5,-12.4,11,96,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1939,3054,3054,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.54,52.04
$GC,131,-1.80,-487.5,1754,1939,3055,4094,10.2,-17.1,17,137,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1940,3056,3056,4095,0,0,0,0,0,0,26.32,26.33,26.32,10.54,51.10
$GC,172,-1.80,-487.5,1754,1939,3057,4095,17.5,-17.5,23,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1939,3057,3057,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.55,50.74
$GC,213,-1.80,-487.5,1754,1939,3058,4094,25.1,-18.4,29,219,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1940,3059,3059,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.55,51.06
$GC,254,-1.80,-487.5,1754,1939,3060,4094,32.1,-15.9,35,260,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1939,3060,3060,4095,0,0,0,0,0,0,26.44,26.45,26.44,10.51,50.70
$GC,295,-1.80,-487.5,1754,1939,3061,4095,38.1,-14.8,41,301,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1939,3061,3061,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.48,49.80
$GC,337,-1.80,-487.5,1755,1939,3062,4095,44.1,-15.0,47,342,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1940,3062,3062,4095,0,0,0,0,0,0,26.49,26.51,26.50,10.45,48.97
$GC,378,-1.80,-487.5,1754,1939,3063,4095,50.0,-14.7,53,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1940,3063,3063,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.44,48.07
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,420,-0.45,0.0,1755,2141,3064,4095,55.1,-15.0,58,456,4.68,0.00,28.20,1.241,10246,0.054,0.000,2186,2141,2484,2484,4095,0,0,0,0,0,0,26.06,25.25,24.12,10.42,47.36
$STATE,457,end apogee,CONTROL_FINISHED_OK
$STATE,457,begin climb
$GC,463,1.80,487.5,2186,2141,2484,4095,59.1,0.0,64,505,7.55,0.00,27.85,1.223,10246,0.029,0.000,2900,2142,1914,1914,4095,0,0,0,0,0,0,25.63,24.51,23.75,10.31,46.77
$GC,540,1.80,487.5,2900,2141,1914,4095,53.1,11.9,76,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2142,1913,1913,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.18,45.86
$GC,581,1.80,487.5,2900,2141,1912,4094,47.7,13.2,82,588,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1711,1912,1912,4094,0,0,0,0,0,0,25.83,25.44,25.84,10.16,46.25
$GC,782,1.92,561.8,2900,1710,1907,4094,23.3,9.7,114,796,0.28,1.02,5.50,0.600,11270,0.031,0.028,2937,2133,1827,1827,4094,0,0,0,0,0,0,25.98,25.95,24.41,10.20,49.40
$GC,831,1.92,561.8,2937,2133,1826,4094,18.0,11.1,121,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2133,1826,1826,4094,0,0,0,0,0,0,26.27,26.28,26.28,10.21,51.37
$GC,872,1.92,561.8,2936,2133,1824,4094,13.1,12.1,127,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2133,1824,1824,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.22,51.29
$GC,913,1.92,561.8,2936,2133,1823,4094,7.7,13.6,133,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2133,1823,1823,4095,0,0,0,0,0,0,26.36,26.38,26.38,10.23,52.16
$GC,954,1.92,561.8,2937,2133,1821,4095,2.6,12.7,139,961,0.00,1.10,0.00,0.000,516,0.000,0.046,2937,1715,1821,1821,4094,0,0,0,0,0,0,26.40,25.94,26.41,10.23,52.08
$STATE,966,end climb,FINISH_DEPTH_REACHED
$STATE,966,begin subsurface finish
$FINISH1,0.5,1.024126,103
$GC,981,0.15,102.7,2937,2143,1821,4095,0.5,12.0,141,995,5.62,0.00,-4.90,0.000,20486,0.021,0.000,2390,2144,2370,2370,4094,0,0,0,0,0,0,26.11,24.41,26.17,10.23,52.44
$FINISH2,0.0
$STATE,996,end subsurface finish,CONTROL_FINISHED_OK
$STATE,996,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,092501
$TT8_MAMPS,0.024717,0.161784
$HUMID,52.63
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.75,67.788
$10V_AH,10.18,61.817
$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,35.050,4.850,61.550,0.000,0.000,23.795,22.616,305.207,0.000,0.000,19.539,376.812,208.354,150.011,517.211,395.394,0.000,319.295,0.000,219.031,0.000,0.543,0.000
$DEVICE_MAMPS,89.505,45.900,1240.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10729,143
$CAP_FILE_SIZE,29235,0
$CFSIZE,1024409600,905625600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,103913,5958.306,-17226.629,5,0.9,18,7.7,0.5,191.1,10,4.9