version: 66.13
glider: 401
mission: 22
dive: 2335
start: 9 5 117 18 45 27
data:
$ID,401
$MISSION,22
$DIVE,2335
$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,22
$R_STBD_OVSHOOT,62
$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
$GPS1,050917,183132,5957.3262,-17221.0449,8,0.9,34,7.7,0.0,161.8,9,4.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-42.2
$GPS2,050917,184443,5957.3228,-17220.9922,5,0.9,50,7.7,0.3,261.0,8,3.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,103.8,54096,-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,12,-1.80,-487.5,230,1951,1841,4092,0.0,0.0,0,19,5.68,0.00,0.00,0.000,2049,0.090,0.000,711,1943,1842,1842,4094,0,0,0,0,0,0,26.35,28.83,28.83,10.29,51.69
$GC,26,-1.80,-487.5,711,1948,1841,4094,0.8,0.0,1,56,11.43,0.00,-11.30,0.000,18950,0.055,0.000,1756,1948,3054,3054,4094,0,0,0,0,0,0,25.98,25.39,26.06,10.29,51.57
$GC,91,-1.80,-487.5,1756,1948,3055,4094,3.7,-12.5,11,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3055,3055,4095,0,0,0,0,0,0,26.29,26.31,26.30,10.56,52.55
$GC,132,-1.80,-487.5,1756,1948,3056,4095,11.0,-18.5,17,138,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3056,3056,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.56,51.14
$GC,173,-1.80,-487.5,1756,1948,3057,4094,18.6,-18.5,23,179,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1949,3058,3058,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.55,51.02
$GC,214,-1.80,-487.5,1756,1948,3059,4095,26.0,-18.4,29,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1949,3059,3059,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.54,51.37
$GC,255,-1.80,-487.5,1756,1948,3060,4094,31.8,-13.7,35,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1949,3060,3060,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.48,50.66
$GC,296,-1.80,-487.5,1756,1948,3061,4095,37.4,-13.9,41,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1948,3061,3061,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.47,49.60
$GC,337,-1.80,-487.5,1756,1948,3061,4094,43.3,-14.5,47,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1949,3062,3062,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.45,48.50
$GC,378,-1.80,-487.5,1756,1948,3063,4094,49.2,-14.4,53,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1948,3063,3063,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.43,47.91
$STATE,414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,414,begin apogee
$GC,427,-0.45,0.0,1756,2114,3065,4094,55.2,-14.5,59,463,4.65,0.00,28.25,1.244,10246,0.054,0.000,2186,2114,2484,2484,4094,0,0,0,0,0,0,26.08,25.27,24.13,10.42,47.08
$STATE,464,end apogee,CONTROL_FINISHED_OK
$STATE,464,begin climb
$GC,470,1.80,487.5,2186,2114,2484,4094,59.1,0.0,65,512,7.55,0.00,28.02,1.220,10246,0.030,0.000,2900,2114,1917,1917,4094,0,0,0,0,0,0,25.66,24.52,23.78,10.30,47.32
$GC,547,1.80,487.5,2899,2114,1915,4094,53.2,12.3,77,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2114,1915,1915,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.17,45.55
$GC,588,1.80,487.5,2899,2114,1914,4094,48.1,12.3,83,595,0.00,1.10,0.00,0.000,516,0.000,0.044,2900,1704,1914,1914,4094,0,0,0,0,0,0,25.86,25.46,25.87,10.16,45.74
$GC,702,1.80,487.5,2899,1705,1911,4094,33.5,13.0,101,709,0.00,1.05,0.00,0.000,1030,0.000,0.028,2900,2133,1911,1911,4094,0,0,0,0,0,0,25.86,25.84,25.89,10.15,46.85
$GC,745,1.80,487.5,2899,2133,1910,4094,28.1,12.6,107,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2133,1910,1910,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.15,47.59
$GC,786,1.91,559.8,2900,2132,1909,4094,23.6,9.7,113,799,0.28,0.00,5.43,0.606,10246,0.038,0.000,2938,2133,1831,1831,4095,0,0,0,0,0,0,26.06,25.07,24.42,10.18,47.44
$GC,834,1.91,559.8,2937,2133,1829,4095,18.4,11.4,120,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2133,1829,1829,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.20,49.84
$GC,875,1.91,559.8,2937,2133,1827,4094,13.5,11.9,126,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2133,1828,1828,4094,0,0,0,0,0,0,26.34,26.34,26.34,10.21,51.69
$GC,916,1.91,559.8,2937,2132,1827,4094,8.7,11.2,132,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2133,1827,1827,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.22,52.55
$GC,957,1.91,559.8,2937,2133,1826,4094,4.1,11.2,138,964,0.00,1.12,0.00,0.000,516,0.000,0.047,2938,1707,1826,1826,4095,0,0,0,0,0,0,26.41,25.94,26.43,10.23,52.91
$STATE,976,end climb,FINISH_DEPTH_REACHED
$STATE,976,begin subsurface finish
$FINISH1,1.5,1.024112,104
$GC,991,0.16,103.7,2938,2150,1825,4094,1.5,11.1,141,1004,5.60,0.00,-4.85,0.000,20998,0.021,0.000,2389,2153,2370,2370,4094,0,0,0,0,0,0,26.14,24.41,26.20,10.23,53.26
$FINISH2,0.1
$STATE,1005,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1005,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,171848
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.74
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.78,68.463
$10V_AH,10.19,62.267
$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,35.175,4.900,61.700,0.000,0.000,52.770,62.832,296.581,0.000,0.000,51.481,378.095,248.398,157.007,603.170,417.083,0.000,330.766,0.000,218.863,0.000,0.543,0.000
$DEVICE_MAMPS,90.270,106.335,1243.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.886,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,10867,143
$CAP_FILE_SIZE,31736,0
$CFSIZE,1024409600,904708096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,184443,5957.323,-17220.992,5,0.9,50,7.7,0.3,261.0,8,3.0