version: 66.13
glider: 401
mission: 22
dive: 2326
start: 9 5 117 14 7 5
data:
$ID,401
$MISSION,22
$DIVE,2326
$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,25
$R_STBD_OVSHOOT,30
$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
$GPS1,050917,135554,5957.6138,-17225.5742,12,0.7,23,7.7,0.0,13.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-39.5
$GPS2,050917,140626,5957.6387,-17225.6211,5,0.8,39,7.7,0.3,277.5,10,4.7
$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,108.0,16077,-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,-487.5,231,1952,1856,4092,0.0,0.0,0,20,7.53,0.00,0.00,0.000,2049,0.093,0.000,865,1952,1856,1856,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.28,52.00
$GC,27,-1.80,-487.5,865,1952,1856,4094,0.8,0.0,1,55,9.45,1.20,-11.18,0.000,18692,0.037,1.222,1754,2378,3053,3053,4094,0,0,0,0,0,0,25.95,24.00,25.98,10.29,52.04
$GC,107,-1.80,-487.5,1753,2378,3054,4094,3.9,-13.0,11,117,0.00,1.08,0.00,0.000,1030,0.000,0.027,1754,1947,3054,3054,4095,0,0,0,0,0,0,26.06,26.01,26.06,10.55,51.77
$GC,158,-1.80,-487.5,1753,1946,3055,4095,12.8,-18.5,17,167,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3056,3056,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.55,51.33
$GC,208,-1.80,-487.5,1753,1946,3057,4094,22.4,-19.1,23,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3058,3058,4095,0,0,0,0,0,0,26.42,26.44,26.43,10.55,51.61
$GC,257,-1.80,-487.5,1753,1946,3059,4095,30.8,-15.9,29,265,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3059,3059,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.51,50.66
$GC,307,-1.80,-487.5,1753,1946,3060,4094,37.5,-13.3,35,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1946,3060,3060,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.47,49.44
$GC,357,-1.80,-487.5,1753,1946,3061,4095,44.3,-13.8,41,364,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3061,3061,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.45,48.14
$GC,406,-1.80,-487.5,1753,1946,3062,4095,51.3,-14.5,47,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3062,3062,4094,0,0,0,0,0,0,26.55,26.56,26.56,10.43,48.07
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,429,begin apogee
$GC,442,-0.45,0.0,1754,2145,3064,4094,55.8,-15.0,50,478,4.68,0.00,28.30,1.253,10244,0.056,0.000,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.07,25.27,24.11,10.43,47.75
$STATE,479,end apogee,CONTROL_FINISHED_OK
$STATE,479,begin climb
$GC,485,1.80,487.5,2186,2145,2484,4094,59.8,0.0,54,529,7.62,0.00,28.08,1.229,11270,0.030,0.000,2901,2146,1915,1915,4094,0,0,0,0,0,0,25.65,25.83,23.75,10.31,46.29
$GC,571,1.80,487.5,2901,2145,1914,4094,53.8,11.8,64,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2145,1914,1914,4094,0,0,0,0,0,0,25.70,25.71,25.71,10.17,44.88
$GC,621,1.80,487.5,2901,2145,1913,4094,47.2,13.3,70,630,0.00,1.15,0.00,0.000,516,0.000,0.042,2902,1713,1913,1913,4094,0,0,0,0,0,0,25.90,25.50,25.91,10.16,45.74
$GC,748,1.80,487.5,2901,1713,1909,4094,30.1,13.4,88,758,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2132,1909,1909,4094,0,0,0,0,0,0,25.90,25.90,25.93,10.15,46.33
$GC,799,1.80,487.5,2901,2131,1908,4094,24.2,11.2,94,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2132,1908,1908,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.20,48.03
$GC,849,1.87,534.0,2901,2131,1907,4094,19.1,10.1,100,859,0.15,0.00,3.95,0.450,10246,0.055,0.000,2929,2132,1861,1861,4094,0,0,0,0,0,0,26.11,25.01,24.38,10.23,50.35
$GC,901,1.89,546.7,2928,2132,1860,4094,13.6,10.6,106,911,0.00,1.10,2.55,0.197,8708,0.000,0.044,2929,1713,1845,1845,4094,0,0,0,0,0,0,26.35,25.03,24.39,10.22,50.90
$GC,996,1.89,546.7,2928,1713,1843,4094,3.0,10.8,119,1005,0.00,1.00,0.00,0.000,1030,0.000,0.030,2928,2125,1842,1842,4094,0,0,0,0,0,0,26.11,26.06,26.13,10.24,51.85
$STATE,1013,end climb,FINISH_DEPTH_REACHED
$STATE,1013,begin subsurface finish
$FINISH1,0.4,1.024077,106
$GC,1026,0.16,106.2,2929,2126,1842,4094,0.4,11.5,121,1044,5.50,0.00,-4.65,0.000,20486,0.022,0.000,2385,2126,2363,2363,4094,0,0,0,0,0,0,26.18,25.47,26.22,10.24,52.79
$FINISH2,0.2
$STATE,1045,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1045,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,125112
$TT8_MAMPS,0.025466,0.256158
$HUMID,52.95
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.75,68.032
$10V_AH,10.04,62.024
$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,34.925,7.050,62.875,0.000,0.000,22.607,18.016,276.213,0.000,0.000,40.552,366.399,0.000,118.128,808.533,388.354,0.000,342.856,0.000,302.968,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1222.470,1253.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.120,334.300,264.364,392.000,510.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,10930,123
$CAP_FILE_SIZE,28517,0
$CFSIZE,1024409600,905183232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,140626,5957.639,-17225.621,5,0.8,39,7.7,0.3,277.5,10,4.7