version: 66.13
glider: 401
mission: 22
dive: 2341
start: 9 5 117 21 9 33
data:
$ID,401
$MISSION,22
$DIVE,2341
$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,31
$R_STBD_OVSHOOT,57
$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
$GPS1,050917,205359,5956.7222,-17219.3359,8,0.8,22,7.7,0.6,229.3,10,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-36.4
$GPS2,050917,210854,5956.6748,-17219.5215,5,0.9,18,7.7,0.2,276.5,9,4.8
$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,103.1,52384,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,238,1940,1740,4092,0.0,0.0,0,19,5.60,0.00,0.00,0.000,2049,0.092,0.000,711,1939,1740,1740,4095,0,0,0,0,0,0,26.26,28.83,28.83,10.26,52.24
$GC,26,-1.80,-487.5,711,1939,1740,4095,0.7,0.0,1,56,11.25,0.00,-12.35,0.000,18950,0.044,0.000,1755,1940,3056,3056,4095,0,0,0,0,0,0,25.86,25.32,25.94,10.27,52.40
$GC,91,-1.80,-487.5,1754,1939,3055,4095,0.2,-1.1,11,98,0.00,1.08,0.00,0.000,516,0.000,0.054,1754,1526,3056,3056,4095,0,0,0,0,0,0,26.25,25.76,26.26,10.55,51.49
$GC,181,-1.80,-487.5,1754,1526,3059,4095,14.9,-19.7,25,188,0.00,0.95,0.00,0.000,1030,0.000,0.027,1754,1932,3059,3059,4095,0,0,0,0,0,0,26.07,26.04,26.10,10.55,51.89
$GC,223,-1.80,-487.5,1754,1932,3060,4095,22.9,-18.1,31,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1932,3061,3061,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.55,50.98
$GC,264,-1.80,-487.5,1754,1931,3062,4095,30.4,-18.5,37,270,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1932,3062,3062,4095,0,0,0,0,0,0,26.43,26.45,26.45,10.51,50.86
$GC,305,-1.80,-487.5,1754,1932,3062,4095,36.2,-14.2,43,312,0.00,1.12,0.00,0.000,260,0.000,0.044,1755,2364,3062,3062,4095,0,0,0,0,0,0,26.46,25.99,26.48,10.48,49.76
$GC,372,-1.80,-487.5,1754,2363,3065,4095,45.8,-14.5,53,378,0.00,1.05,0.00,0.000,1030,0.000,0.030,1754,1944,3065,3065,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.44,48.11
$GC,414,-1.80,-487.5,1754,1944,3066,4095,51.9,-15.0,59,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1944,3066,3066,4094,0,0,0,0,0,0,26.53,26.54,26.54,10.43,47.63
$STATE,431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,431,begin apogee
$GC,445,-0.45,0.0,1754,2136,3066,4095,55.2,-14.0,62,481,4.65,0.00,28.33,1.251,10244,0.054,0.000,2186,2136,2484,2484,4095,0,0,0,0,0,0,26.06,25.24,24.08,10.43,47.28
$STATE,482,end apogee,CONTROL_FINISHED_OK
$STATE,482,begin climb
$GC,488,1.80,487.5,2186,2136,2484,4095,59.5,0.0,68,529,7.57,0.00,27.95,1.226,11270,0.030,0.000,2902,2136,1915,1915,4094,0,0,0,0,0,0,25.63,25.81,23.74,10.30,46.88
$GC,564,1.80,487.5,2901,2136,1915,4094,53.6,12.4,80,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1915,1915,4094,0,0,0,0,0,0,25.64,25.65,25.65,10.17,45.39
$GC,606,1.80,487.5,2901,2136,1914,4094,48.2,12.8,86,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2136,1913,1913,4094,0,0,0,0,0,0,25.84,25.85,25.85,10.16,45.78
$GC,647,1.80,487.5,2901,2136,1912,4094,43.0,12.5,92,653,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1715,1912,1912,4094,0,0,0,0,0,0,25.98,25.56,25.98,10.15,45.90
$GC,773,1.87,528.5,2901,1714,1909,4094,27.4,10.2,112,781,0.10,1.00,3.83,0.487,11270,0.049,0.027,2922,2128,1866,1866,4094,0,0,0,0,0,0,25.87,25.91,24.23,10.17,47.04
$GC,817,1.92,568.0,2922,2128,1866,4094,23.1,10.2,118,825,0.10,0.00,3.90,0.470,10246,0.070,0.000,2942,2128,1820,1820,4094,0,0,0,0,0,0,26.07,25.37,24.32,10.20,48.54
$GC,860,1.92,568.0,2942,2128,1820,4094,18.2,12.2,124,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2128,1820,1820,4095,0,0,0,0,0,0,26.27,26.29,26.29,10.20,51.02
$GC,902,1.92,568.0,2941,2128,1819,4095,13.3,11.5,130,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2128,1819,1819,4094,0,0,0,0,0,0,26.33,26.34,26.34,10.22,51.96
$GC,943,1.92,568.0,2942,2128,1818,4094,8.1,12.1,136,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2128,1817,1817,4094,0,0,0,0,0,0,26.36,26.39,26.38,10.22,52.20
$GC,984,1.92,568.0,2941,2128,1816,4094,3.0,12.8,142,990,0.00,1.08,0.00,0.000,516,0.000,0.045,2942,1718,1816,1816,4094,0,0,0,0,0,0,26.41,25.95,26.42,10.23,53.38
$STATE,995,end climb,FINISH_DEPTH_REACHED
$STATE,995,begin subsurface finish
$FINISH1,0.7,1.024114,104
$GC,1011,0.16,103.6,2942,2139,1815,4094,0.7,13.5,144,1030,5.65,1.20,-5.00,0.000,20996,0.020,1.233,2387,1717,2368,2368,4094,0,0,0,0,0,0,26.16,24.09,26.20,10.23,53.85
$FINISH2,-0.0
$STATE,1031,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1032,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,205840
$TT8_MAMPS,0.025466,0.161035
$HUMID,53.18
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.74,68.644
$10V_AH,10.17,62.402
$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,34.925,10.250,64.000,0.000,0.000,48.260,45.930,423.519,0.000,0.000,19.254,392.738,260.539,153.704,690.039,432.611,0.000,328.613,0.000,224.610,0.000,0.543,0.000
$DEVICE_MAMPS,91.800,1233.180,1250.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10868,147
$CAP_FILE_SIZE,33924,0
$CFSIZE,1024409600,904396800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,210854,5956.675,-17219.521,5,0.9,18,7.7,0.2,276.5,9,4.8