version: 66.13
glider: 401
mission: 22
dive: 2344
start: 9 5 117 22 23 15
data:
$ID,401
$MISSION,22
$DIVE,2344
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,050917,220717,5956.4131,-17219.2715,4,0.8,18,7.7,0.3,277.0,11,4.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-38.9
$GPS2,050917,222236,5956.3589,-17219.6211,5,0.8,22,7.7,0.8,296.1,11,5.0
$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,102.5,52266,-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,-487.5,230,1947,1820,4092,0.0,0.0,0,22,8.52,0.00,0.00,0.000,2049,0.096,0.000,944,1946,1820,1820,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.28,51.89
$GC,28,-1.80,-487.5,943,1946,1820,4094,0.7,0.0,1,55,8.62,0.00,-11.68,0.000,18950,0.037,0.000,1754,1947,3056,3056,4094,0,0,0,0,0,0,25.90,25.36,25.99,10.28,51.77
$GC,97,-1.80,-487.5,1754,1946,3056,4094,2.9,-10.7,9,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3057,3057,4095,0,0,0,0,0,0,26.28,26.29,26.29,10.55,51.96
$GC,145,-1.80,-487.5,1754,1946,3058,4095,11.2,-17.6,15,154,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3058,3058,4095,0,0,0,0,0,0,26.34,26.36,26.36,10.55,51.22
$GC,195,-1.80,-487.5,1754,1946,3060,4095,19.9,-17.7,21,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1947,3060,3060,4095,0,0,0,0,0,0,26.39,26.41,26.40,10.55,50.86
$GC,245,-1.80,-487.5,1754,1946,3062,4095,29.0,-18.7,27,254,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1947,3062,3062,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.51,50.86
$GC,295,-1.80,-487.5,1754,1947,3062,4094,35.8,-13.2,33,305,0.00,1.08,0.00,0.000,516,0.000,0.048,1755,1523,3063,3063,4094,0,0,0,0,0,0,26.48,25.99,26.48,10.47,49.29
$GC,378,-1.80,-487.5,1754,1522,3065,4094,47.8,-15.2,44,388,0.00,1.02,0.00,0.000,1030,0.000,0.026,1754,1959,3065,3065,4095,0,0,0,0,0,0,26.22,26.20,26.24,10.44,47.91
$STATE,424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,424,begin apogee
$GC,437,-0.45,0.0,1754,2136,3067,4094,55.1,-14.9,50,473,4.65,0.00,28.42,1.257,10244,0.054,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.06,25.25,24.08,10.42,46.81
$STATE,474,end apogee,CONTROL_FINISHED_OK
$STATE,474,begin climb
$GC,480,1.80,487.5,2185,2136,2484,4094,59.7,0.0,54,524,7.60,0.00,28.15,1.229,11270,0.028,0.000,2901,2136,1915,1915,4094,0,0,0,0,0,0,25.63,25.82,23.75,10.30,47.08
$GC,566,1.80,487.5,2901,2136,1913,4094,53.3,12.1,64,575,0.00,1.12,0.00,0.000,516,0.000,0.044,2902,1719,1913,1913,4094,0,0,0,0,0,0,25.69,25.31,25.70,10.17,45.78
$GC,732,1.80,487.5,2901,1719,1908,4094,31.3,12.9,88,742,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2129,1908,1908,4094,0,0,0,0,0,0,25.89,25.85,25.91,10.14,46.37
$GC,782,1.80,487.5,2901,2129,1907,4094,25.2,12.0,94,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2129,1907,1907,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.17,46.92
$GC,830,1.94,580.0,2901,2128,1906,4094,20.8,9.4,100,842,0.38,1.10,6.28,0.624,10756,0.034,0.044,2946,1710,1807,1807,4094,0,0,0,0,0,0,26.08,25.54,24.46,10.21,49.01
$GC,977,1.94,580.0,2945,1710,1802,4094,3.2,13.6,120,987,0.00,0.98,0.00,0.000,1030,0.000,0.036,2946,2104,1802,1802,4094,0,0,0,0,0,0,26.05,26.01,26.07,10.22,52.44
$STATE,995,end climb,FINISH_DEPTH_REACHED
$STATE,995,begin subsurface finish
$FINISH1,-0.0,1.024129,103
$GC,1009,0.15,102.5,2946,2165,1802,4094,-0.0,13.1,122,1029,5.50,1.10,-5.07,0.000,20740,0.018,1.235,2402,2546,2368,2368,4094,0,0,0,0,0,0,26.17,24.08,26.21,10.23,52.67
$FINISH2,0.2
$STATE,1030,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1030,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,221501
$TT8_MAMPS,0.025466,0.259903
$HUMID,52.44
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.75,68.731
$10V_AH,10.03,62.478
$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,35.275,7.925,62.850,0.000,0.000,98.535,87.819,283.381,0.000,0.000,24.113,364.352,134.693,107.474,959.079,386.994,0.000,321.161,0.000,305.747,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1234.710,1256.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.568,336.979,266.528,395.387,517.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329288
$DATA_FILE_SIZE,10923,124
$CAP_FILE_SIZE,28442,0
$CFSIZE,1024409600,904265728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,222236,5956.359,-17219.621,5,0.8,22,7.7,0.8,296.1,11,5.0