version: 66.13
glider: 401
mission: 22
dive: 2318
start: 9 5 117 10 58 34
data:
$ID,401
$MISSION,22
$DIVE,2318
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,050917,103913,5958.3057,-17226.6289,5,0.9,18,7.7,0.5,191.1,10,4.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.2
$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,6,begin dive
$GC,12,-1.80,-487.5,2389,1947,2370,4092,0.0,0.0,0,22,6.38,0.00,-1.17,0.000,20482,0.018,0.000,1761,1947,2495,2495,4094,0,0,0,0,0,0,26.22,28.83,26.27,10.37,53.26
$GC,28,-1.80,-487.5,1761,1947,2496,4094,0.0,0.0,1,38,0.00,0.00,-5.30,0.000,16390,0.000,0.000,1761,1947,3057,3057,4094,0,0,0,0,0,0,26.50,24.51,26.51,10.39,53.22
$GC,78,-1.80,-487.5,1760,1947,3058,4094,2.6,-9.8,7,85,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1947,3059,3059,4095,0,0,0,0,0,0,26.47,26.48,26.48,10.51,52.83
$GC,125,-1.80,-487.5,1760,1947,3060,4095,10.8,-18.1,13,133,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3060,3060,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.51,53.38
$GC,172,-1.80,-487.5,1760,1947,3061,4094,19.5,-18.7,19,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3062,3062,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.53,52.67
$GC,220,-1.80,-487.5,1760,1947,3063,4095,29.1,-20.2,25,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3064,3064,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.52,52.20
$GC,267,-1.80,-487.5,1760,1947,3065,4095,37.8,-16.8,31,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3065,3065,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.48,52.20
$GC,316,-1.80,-487.5,1760,1947,3066,4095,44.7,-14.2,37,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3066,3066,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.45,51.33
$GC,364,-1.80,-487.5,1760,1947,3067,4095,51.3,-13.8,43,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1947,3067,3067,4094,0,0,0,0,0,0,26.62,26.63,26.63,10.43,49.88
$STATE,389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,389,begin apogee
$GC,402,-0.45,0.0,1761,2146,3069,4095,55.3,-14.1,46,438,4.60,0.00,28.42,1.247,10246,0.054,0.000,2186,2147,2484,2484,4094,0,0,0,0,0,0,26.14,25.32,24.17,10.42,49.21
$STATE,439,end apogee,CONTROL_FINISHED_OK
$STATE,439,begin climb
$GC,445,1.80,487.5,2185,2146,2484,4094,59.6,0.0,50,489,7.57,0.00,27.83,1.221,10246,0.031,0.000,2900,2147,1918,1918,4095,0,0,0,0,0,0,25.69,24.55,23.80,10.29,48.38
$GC,530,1.80,487.5,2900,2146,1917,4095,53.0,12.8,60,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2147,1917,1917,4094,0,0,0,0,0,0,25.72,25.72,25.72,10.16,46.45
$GC,580,1.80,487.5,2900,2146,1915,4094,46.3,13.4,66,590,0.00,1.17,0.00,0.000,516,0.000,0.044,2900,1704,1915,1915,4094,0,0,0,0,0,0,25.91,25.51,25.92,10.16,47.32
$GC,804,1.83,506.8,2900,1704,1909,4094,19.8,10.5,98,814,0.00,1.05,2.72,0.253,9222,0.000,0.028,2900,2134,1891,1891,4094,0,0,0,0,0,0,26.03,25.99,24.25,10.22,51.45
$GC,856,1.85,517.2,2900,2134,1890,4094,14.6,10.6,104,866,0.00,0.00,2.25,0.112,8198,0.000,0.000,2900,2135,1883,1883,4094,0,0,0,0,0,0,26.37,24.94,24.30,10.23,51.45
$GC,907,1.85,517.2,2900,2134,1881,4094,9.1,10.9,110,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2134,1881,1881,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.23,52.83
$GC,957,1.86,524.0,2900,2134,1880,4094,3.7,10.7,116,967,0.10,0.00,2.15,0.071,10246,0.074,0.000,2921,2134,1874,1874,4094,0,0,0,0,0,0,26.23,24.91,24.33,10.24,52.40
$STATE,974,end climb,FINISH_DEPTH_REACHED
$STATE,974,begin subsurface finish
$FINISH1,0.9,1.024127,103
$GC,988,0.15,102.6,2921,2134,1873,4094,0.9,10.9,118,1007,5.43,0.00,-4.47,0.000,20486,0.022,0.000,2390,2134,2369,2369,4094,0,0,0,0,0,0,26.17,25.47,26.22,10.25,52.52
$FINISH2,0.1
$STATE,1008,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1008,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,092501
$TT8_MAMPS,0.025466,0.244923
$HUMID,52.79
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.70
$XPDR_PINGS,0
$24V_AH,23.80,67.807
$10V_AH,10.06,61.845
$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,24.075,3.250,63.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,344.830,0.000,106.359,498.426,120.473,0.000,309.975,0.000,293.943,0.000,0.542,0.000
$DEVICE_MAMPS,74.205,49.725,1246.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.257,326.102,257.927,382.563,497.097,0.000,0.000,0.000,0.000,0.000
$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,10896,120
$CAP_FILE_SIZE,22760,0
$CFSIZE,1024409600,905576448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,103913,5958.306,-17226.629,5,0.9,18,7.7,0.5,191.1,10,4.9