version: 66.13
glider: 401
mission: 22
dive: 2347
start: 9 5 117 23 32 29
data:
$ID,401
$MISSION,22
$DIVE,2347
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,050917,232039,5956.1787,-17219.5332,4,0.8,32,7.7,0.8,239.7,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-38.4
$GPS2,050917,233150,5956.1396,-17219.7891,8,0.8,19,7.7,0.4,228.6,11,5.0
$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,102.0,52275,-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,-487.5,231,1944,1757,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.084,0.000,713,1945,1757,1757,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.26,51.73
$GC,25,-1.80,-487.5,713,1944,1756,4094,0.6,0.0,1,55,11.27,0.00,-12.15,0.000,18950,0.048,0.000,1755,1945,3054,3054,4094,0,0,0,0,0,0,25.92,25.34,26.00,10.26,51.73
$GC,90,-1.80,-487.5,1754,1945,3055,4094,3.8,-14.2,11,97,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1945,3055,3055,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.55,51.73
$GC,132,-1.80,-487.5,1755,1945,3056,4094,10.6,-17.3,17,138,0.00,1.08,0.00,0.000,516,0.000,0.050,1755,1524,3056,3056,4095,0,0,0,0,0,0,26.32,25.84,26.33,10.55,51.53
$GC,192,-1.80,-487.5,1754,1524,3058,4095,21.9,-19.8,26,198,0.00,1.02,0.00,0.000,1030,0.000,0.027,1755,1956,3058,3058,4095,0,0,0,0,0,0,26.09,26.06,26.12,10.55,51.10
$GC,234,-1.80,-487.5,1754,1956,3060,4095,29.0,-16.5,32,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3060,3060,4095,0,0,0,0,0,0,26.42,26.43,26.43,10.51,51.53
$GC,275,-1.80,-487.5,1755,1957,3061,4095,34.7,-14.0,38,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1958,3061,3061,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.47,50.07
$GC,316,-1.80,-487.5,1755,1957,3061,4094,40.3,-13.6,44,322,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1956,3062,3062,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.45,48.85
$GC,357,-1.80,-487.5,1754,1957,3062,4095,45.9,-13.9,50,363,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1957,3063,3063,4095,0,0,0,0,0,0,26.51,26.52,26.51,10.44,47.95
$GC,398,-1.80,-487.5,1755,1957,3064,4095,52.0,-14.7,56,404,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1957,3064,3064,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.43,47.36
$STATE,415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,429,-0.45,0.0,1755,2140,3065,4095,55.5,-14.9,59,465,4.65,0.00,28.25,1.251,10244,0.054,0.000,2185,2141,2484,2484,4094,0,0,0,0,0,0,26.05,25.22,24.08,10.42,47.28
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2184,2140,2484,4094,59.2,0.0,65,515,7.53,0.00,28.05,1.223,11270,0.030,0.000,2900,2140,1916,1916,4094,0,0,0,0,0,0,25.63,25.81,23.74,10.29,46.57
$GC,550,1.80,487.5,2900,2140,1914,4094,53.0,11.4,76,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2140,1914,1914,4094,0,0,0,0,0,0,25.65,25.65,25.65,10.17,45.90
$GC,591,1.80,487.5,2900,2140,1914,4094,47.7,12.9,82,598,0.00,1.12,0.00,0.000,516,0.000,0.044,2901,1717,1913,1913,4094,0,0,0,0,0,0,25.84,25.44,25.85,10.15,45.78
$GC,717,1.80,487.5,2901,1716,1910,4094,31.7,12.6,102,724,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2127,1910,1910,4095,0,0,0,0,0,0,25.87,25.84,25.89,10.14,47.28
$GC,759,1.80,487.5,2900,2126,1908,4095,26.6,11.9,108,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2127,1908,1908,4094,0,0,0,0,0,0,26.23,26.25,26.25,10.14,47.40
$GC,801,2.13,705.6,2901,2126,1908,4094,22.8,7.5,114,819,1.02,0.00,12.75,0.789,10246,0.024,0.000,3003,2127,1661,1661,4094,0,0,0,0,0,0,26.02,25.41,24.47,10.18,48.93
$GC,855,2.13,705.6,3002,2126,1660,4094,16.8,12.4,122,861,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2127,1660,1660,4094,0,0,0,0,0,0,26.16,26.17,26.17,10.17,50.43
$GC,896,2.13,705.6,3002,2126,1658,4094,11.3,13.5,128,903,0.00,1.10,0.00,0.000,516,0.000,0.045,3003,1712,1658,1658,4094,0,0,0,0,0,0,26.24,25.79,26.25,10.17,51.77
$STATE,962,end climb,FINISH_DEPTH_REACHED
$STATE,963,begin subsurface finish
$FINISH1,1.1,1.024101,104
$GC,978,0.16,104.4,3002,2145,1656,4094,1.1,15.2,139,996,6.45,0.00,-6.30,0.000,20486,0.039,0.000,2397,2147,2368,2368,4095,0,0,0,0,0,0,25.91,23.70,25.96,10.19,53.18
$FINISH2,0.2
$STATE,997,end subsurface finish,CONTROL_FINISHED_OK
$STATE,997,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,221635
$TT8_MAMPS,0.025466,0.161784
$HUMID,53.97
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.70,68.817
$10V_AH,10.17,62.535
$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,36.550,6.825,69.050,0.000,0.000,26.208,19.545,321.772,0.000,0.000,20.944,373.893,206.396,155.163,526.375,409.443,0.000,330.457,0.000,217.512,0.000,0.543,0.000
$DEVICE_MAMPS,84.150,50.490,1250.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,94.291,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329280
$DATA_FILE_SIZE,10857,142
$CAP_FILE_SIZE,30285,0
$CFSIZE,1024409600,904118272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,463.35,0x2138e4,2,24
$GPS,050917,233150,5956.140,-17219.789,8,0.8,19,7.7,0.4,228.6,11,5.0