version: 66.13
glider: 401
mission: 22
dive: 2342
start: 9 5 117 21 28 53
data:
$ID,401
$MISSION,22
$DIVE,2342
$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,28
$R_STBD_OVSHOOT,52
$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
$GPS1,050917,210854,5956.6748,-17219.5215,5,0.9,18,7.7,0.2,276.5,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-2.8
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,11,-1.80,-487.5,2386,1983,2368,4092,0.0,0.0,0,22,6.38,0.00,-2.00,0.000,20482,0.023,0.000,1765,1985,2581,2581,4094,0,0,0,0,0,0,26.11,28.83,26.17,10.37,52.95
$GC,28,-1.80,-487.5,1765,1984,2581,4094,0.0,0.0,1,38,0.00,0.00,-4.55,0.000,16390,0.000,0.000,1765,1983,3056,3056,4094,0,0,0,0,0,0,26.43,24.48,26.44,10.41,52.95
$GC,77,-1.80,-487.5,1764,1983,3057,4094,3.5,-11.9,7,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3057,3057,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.51,53.46
$GC,125,-1.80,-487.5,1764,1984,3059,4094,11.9,-19.0,13,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3059,3059,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.51,53.81
$GC,174,-1.80,-487.5,1764,1984,3060,4094,20.6,-18.1,19,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3060,3060,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.52,53.11
$GC,222,-1.80,-487.5,1764,1984,3062,4094,29.7,-19.1,25,230,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,1984,3062,3062,4094,0,0,0,0,0,0,26.51,26.51,26.51,10.51,53.26
$GC,270,-1.80,-487.5,1764,1984,3064,4094,37.6,-14.6,31,280,0.00,1.17,0.00,0.000,516,0.000,0.050,1765,1525,3064,3064,4095,0,0,0,0,0,0,26.53,26.04,26.55,10.46,51.81
$GC,352,-1.80,-487.5,1764,1525,3066,4095,49.6,-14.6,42,361,0.00,0.95,0.00,0.000,1030,0.000,0.027,1765,1934,3066,3066,4094,0,0,0,0,0,0,26.29,26.25,26.30,10.42,49.92
$STATE,389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,389,begin apogee
$GC,402,-0.45,0.0,1764,2134,3067,4094,55.7,-14.0,47,444,4.55,0.00,28.42,1.261,10246,0.054,0.000,2186,2135,2484,2484,4094,0,0,0,0,0,0,26.12,24.96,24.14,10.41,49.44
$STATE,445,end apogee,CONTROL_FINISHED_OK
$STATE,445,begin climb
$GC,451,1.80,487.5,2186,2135,2484,4094,60.1,0.0,52,495,7.57,0.00,28.08,1.239,10246,0.030,0.000,2901,2135,1916,1916,4094,0,0,0,0,0,0,25.68,24.51,23.76,10.29,48.66
$GC,537,1.80,487.5,2901,2135,1915,4094,53.7,12.4,62,545,0.00,1.12,0.00,0.000,516,0.000,0.045,2901,1714,1915,1915,4094,0,0,0,0,0,0,25.70,25.32,25.72,10.16,46.96
$GC,670,1.80,487.5,2901,1714,1911,4094,35.1,13.9,81,679,0.00,1.00,0.00,0.000,1030,0.000,0.029,2901,2122,1911,1911,4094,0,0,0,0,0,0,25.84,25.79,25.86,10.13,47.24
$GC,719,1.80,487.5,2901,2121,1909,4094,28.5,13.1,87,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2122,1909,1909,4094,0,0,0,0,0,0,26.21,26.23,26.22,10.15,48.50
$GC,768,1.88,539.4,2901,2122,1908,4094,23.7,10.0,93,778,0.15,0.00,4.35,0.519,10246,0.055,0.000,2928,2122,1853,1853,4094,0,0,0,0,0,0,26.07,25.37,24.32,10.19,49.40
$GC,819,1.88,539.4,2927,2122,1852,4094,18.1,11.4,99,828,0.00,1.08,0.00,0.000,516,0.000,0.044,2928,1715,1852,1852,4095,0,0,0,0,0,0,26.29,25.84,26.31,10.21,51.22
$GC,919,1.88,539.4,2927,1714,1849,4095,5.3,11.9,113,929,0.00,0.95,0.00,0.000,1030,0.000,0.028,2928,2111,1849,1849,4094,0,0,0,0,0,0,26.10,26.07,26.13,10.22,53.50
$STATE,945,end climb,FINISH_DEPTH_REACHED
$STATE,945,begin subsurface finish
$FINISH1,1.5,1.024107,104
$GC,958,0.16,104.0,2928,2112,1848,4094,1.5,12.7,116,977,5.70,0.00,-4.60,0.000,20486,0.044,0.000,2389,2113,2365,2365,4094,0,0,0,0,0,0,26.10,25.44,26.16,10.22,53.15
$FINISH2,0.3
$STATE,978,end subsurface finish,CONTROL_FINISHED_OK
$STATE,978,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,205840
$TT8_MAMPS,0.025466,0.258405
$HUMID,53.22
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.76,68.665
$10V_AH,10.05,62.430
$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,24.350,7.325,60.850,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,333.579,0.000,105.682,491.064,111.247,0.000,307.799,0.000,289.980,0.000,0.543,0.000
$DEVICE_MAMPS,55.080,49.725,1261.485,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.249,320.615,253.670,375.839,489.841,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330636
$DATA_FILE_SIZE,10929,118
$CAP_FILE_SIZE,22193,0
$CFSIZE,1024409600,904364032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,210854,5956.675,-17219.521,5,0.9,18,7.7,0.2,276.5,9,4.8