version: 66.13
glider: 401
mission: 22
dive: 2323
start: 9 5 117 12 58 12
data:
$ID,401
$MISSION,22
$DIVE,2323
$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,24
$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
$GPS1,050917,124452,5957.6934,-17226.1250,8,0.8,18,7.7,0.0,265.5,10,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-43.1
$GPS2,050917,125728,5957.7017,-17226.3184,5,0.8,21,7.7,0.0,289.4,10,4.9
$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,107.4,16712,-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,-487.5,230,1947,1864,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.098,0.000,698,1947,1864,1864,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.29,50.94
$GC,25,-1.80,-487.5,698,1947,1864,4094,0.7,0.0,1,55,11.48,1.25,-11.05,0.000,18692,0.052,1.220,1752,2377,3057,3057,4094,0,0,0,0,0,0,25.92,23.97,25.96,10.29,51.26
$GC,139,-1.80,-487.5,1752,2377,3060,4094,10.9,-16.8,19,145,0.00,1.08,0.00,0.000,1030,0.000,0.029,1753,1945,3060,3060,4095,0,0,0,0,0,0,25.98,25.95,26.02,10.55,50.94
$GC,181,-1.80,-487.5,1752,1945,3061,4095,18.6,-18.8,25,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3061,3061,4094,0,0,0,0,0,0,26.36,26.39,26.38,10.55,51.26
$GC,222,-1.80,-487.5,1752,1945,3062,4094,25.9,-17.7,31,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3063,3063,4095,0,0,0,0,0,0,26.41,26.42,26.42,10.56,50.74
$GC,263,-1.80,-487.5,1751,1945,3064,4095,32.8,-16.3,37,269,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3064,3064,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.52,51.10
$GC,304,-1.80,-487.5,1752,1945,3065,4094,38.0,-12.4,43,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3065,3065,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.49,49.60
$GC,345,-1.80,-487.5,1752,1945,3066,4094,43.5,-13.6,49,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3066,3066,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.46,48.70
$GC,386,-1.80,-487.5,1752,1945,3067,4095,49.1,-13.2,55,392,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1946,3067,3067,4094,0,0,0,0,0,0,26.52,26.54,26.53,10.45,48.46
$GC,427,-1.80,-487.5,1752,1945,3068,4094,54.9,-14.1,61,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1945,3068,3068,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.44,46.85
$STATE,437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,438,begin apogee
$GC,451,-0.45,0.0,1752,2146,3069,4095,57.3,-14.8,63,487,4.70,0.00,28.38,1.261,10244,0.054,0.000,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.06,25.25,24.08,10.43,47.32
$STATE,488,end apogee,CONTROL_FINISHED_OK
$STATE,488,begin climb
$GC,494,1.80,487.5,2185,2146,2484,4094,61.1,0.0,69,536,7.57,0.00,28.08,1.236,11270,0.029,0.000,2899,2147,1916,1916,4095,0,0,0,0,0,0,25.64,25.81,23.75,10.31,46.22
$GC,571,1.80,487.5,2898,2146,1915,4095,55.0,12.5,81,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2147,1914,1914,4094,0,0,0,0,0,0,25.63,25.65,25.65,10.17,45.11
$GC,612,1.80,487.5,2898,2146,1913,4094,49.5,13.3,87,619,0.00,1.15,0.00,0.000,516,0.000,0.043,2899,1717,1913,1913,4094,0,0,0,0,0,0,25.83,25.44,25.84,10.17,45.39
$GC,744,1.80,487.5,2898,1716,1909,4094,31.9,13.7,108,751,0.00,1.00,0.00,0.000,1030,0.000,0.028,2899,2127,1909,1909,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.15,46.61
$GC,786,1.80,487.5,2898,2127,1908,4094,26.5,12.4,114,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2127,1908,1908,4094,0,0,0,0,0,0,26.25,26.25,26.25,10.18,46.88
$GC,827,1.84,513.4,2898,2127,1907,4094,22.1,10.4,120,834,0.00,0.00,2.90,0.301,8198,0.000,0.000,2899,2127,1885,1885,4094,0,0,0,0,0,0,26.29,25.30,24.22,10.21,48.97
$GC,870,1.91,561.0,2898,2127,1884,4094,18.0,10.1,126,878,0.30,0.00,4.30,0.479,10246,0.037,0.000,2939,2127,1829,1829,4094,0,0,0,0,0,0,26.09,25.43,24.44,10.22,50.78
$GC,913,1.91,561.0,2939,2127,1828,4094,12.9,11.8,132,920,0.00,1.08,0.00,0.000,516,0.000,0.044,2939,1717,1828,1828,4094,0,0,0,0,0,0,26.32,25.89,26.34,10.22,51.14
$STATE,1004,end climb,FINISH_DEPTH_REACHED
$STATE,1004,begin subsurface finish
$FINISH1,1.5,1.024074,106
$GC,1019,0.16,106.3,2939,2147,1825,4094,1.5,11.7,147,1032,5.62,0.00,-4.80,0.000,20486,0.022,0.000,2392,2147,2366,2366,4094,0,0,0,0,0,0,26.13,24.40,26.17,10.23,53.34
$FINISH2,0.1
$STATE,1033,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1033,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,124932
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.87
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,23.75,67.952
$10V_AH,10.19,61.949
$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,35.300,7.125,63.650,0.000,0.000,54.734,44.267,306.720,0.000,0.000,22.594,395.812,271.099,146.664,578.266,405.453,0.000,318.906,0.000,227.566,0.000,0.543,0.000
$DEVICE_MAMPS,97.920,1220.175,1261.485,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.289,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10799,149
$CAP_FILE_SIZE,31145,0
$CFSIZE,1024409600,905330688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,125728,5957.702,-17226.318,5,0.8,21,7.7,0.0,289.4,10,4.9