version: 66.13
glider: 401
mission: 22
dive: 2320
start: 9 5 117 11 47 40
data:
$ID,401
$MISSION,22
$DIVE,2320
$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,44
$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
$GPS1,050917,113651,5957.8657,-17226.3828,7,0.8,29,7.7,0.3,241.9,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-39.6
$GPS2,050917,114701,5957.8472,-17226.5645,5,0.8,39,7.7,0.0,272.6,10,4.1
$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,107.9,17033,-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,-487.5,239,1933,1772,4092,0.0,0.0,0,20,7.53,0.00,0.00,0.000,2049,0.098,0.000,869,1933,1772,1772,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.27,52.32
$GC,27,-1.80,-487.5,869,1933,1772,4094,0.7,0.0,1,54,9.45,1.30,-11.90,0.000,18692,0.041,1.220,1754,2380,3057,3057,4094,0,0,0,0,0,0,25.98,24.01,26.01,10.27,51.92
$GC,128,-1.80,-487.5,1753,2379,3059,4094,7.5,-16.5,14,137,0.00,1.02,0.00,0.000,1030,0.000,0.028,1754,1972,3059,3059,4094,0,0,0,0,0,0,26.07,26.05,26.12,10.55,51.33
$GC,178,-1.80,-487.5,1753,1972,3060,4094,16.6,-17.4,20,187,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1972,3061,3061,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.55,51.53
$GC,228,-1.80,-487.5,1753,1972,3062,4095,25.8,-18.7,26,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1972,3062,3062,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.56,51.29
$GC,278,-1.80,-487.5,1753,1972,3064,4094,34.8,-17.4,32,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1972,3064,3064,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.51,50.31
$GC,328,-1.80,-487.5,1753,1972,3065,4095,41.8,-14.1,38,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1972,3065,3065,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.47,50.03
$GC,378,-1.80,-487.5,1753,1972,3066,4094,49.0,-14.5,44,387,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1972,3066,3066,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.46,48.85
$STATE,414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,414,begin apogee
$GC,427,-0.45,0.0,1754,2146,3068,4094,55.3,-14.3,49,470,4.68,0.00,28.40,1.245,10244,0.055,0.000,2185,2147,2485,2485,4094,0,0,0,0,0,0,26.07,24.91,24.12,10.44,47.63
$STATE,471,end apogee,CONTROL_FINISHED_OK
$STATE,471,begin climb
$GC,477,1.80,487.5,2185,2146,2484,4094,59.7,0.0,54,522,7.57,1.10,28.08,1.222,10500,0.030,0.050,2904,2556,1914,1914,4094,0,0,0,0,0,0,25.54,25.49,23.76,10.32,46.73
$GC,536,1.91,557.0,2903,2556,1915,4094,56.4,9.7,60,547,0.17,1.08,5.60,0.825,11270,0.032,0.024,2932,2127,1835,1835,4094,0,0,0,0,0,0,25.30,25.29,23.76,10.18,45.74
$GC,589,1.91,557.0,2931,2126,1833,4094,49.6,14.0,66,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2127,1833,1833,4094,0,0,0,0,0,0,25.75,25.76,25.77,10.16,45.62
$GC,639,1.91,557.0,2931,2127,1832,4094,42.5,14.2,72,648,0.00,1.05,0.00,0.000,516,0.000,0.045,2931,1722,1832,1832,4094,0,0,0,0,0,0,25.94,25.55,25.95,10.15,45.55
$GC,805,1.91,557.0,2931,1721,1827,4094,21.2,11.9,96,815,0.00,0.98,0.00,0.000,1030,0.000,0.030,2932,2122,1826,1826,4094,0,0,0,0,0,0,25.98,25.96,26.00,10.21,49.60
$GC,854,1.91,557.0,2931,2122,1825,4094,15.4,12.3,102,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2122,1825,1825,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.23,51.02
$GC,903,1.91,557.0,2931,2122,1823,4094,9.6,11.9,108,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2123,1823,1823,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.23,51.14
$GC,951,1.91,557.0,2931,2122,1822,4094,3.9,12.2,114,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2122,1821,1821,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.24,51.57
$STATE,967,end climb,FINISH_DEPTH_REACHED
$STATE,967,begin subsurface finish
$FINISH1,1.2,1.024116,103
$GC,981,0.16,103.4,2932,2122,1821,4094,1.2,12.0,116,998,5.57,0.00,-4.95,0.000,20486,0.024,0.000,2389,2122,2368,2368,4095,0,0,0,0,0,0,26.13,25.46,26.19,10.24,51.65
$FINISH2,0.0
$STATE,999,end subsurface finish,CONTROL_FINISHED_OK
$STATE,999,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,103302
$TT8_MAMPS,0.024717,0.250166
$HUMID,51.61
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.76,67.867
$10V_AH,10.04,61.891
$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,34.975,6.950,62.075,0.000,0.000,24.885,17.911,254.814,0.000,0.000,40.971,346.753,0.000,118.988,766.295,381.796,0.000,339.214,0.000,291.793,0.000,0.542,0.000
$DEVICE_MAMPS,97.920,1220.175,1244.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,79.513,320.688,253.621,376.086,489.888,0.000,0.000,0.000,0.000,0.000
$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,10855,118
$CAP_FILE_SIZE,27280,0
$CFSIZE,1024409600,905478144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,114701,5957.847,-17226.564,5,0.8,39,7.7,0.0,272.6,10,4.1