version: 66.13
glider: 401
mission: 22
dive: 2348
start: 9 5 117 23 51 14
data:
$ID,401
$MISSION,22
$DIVE,2348
$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,31
$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
$GPS1,050917,233150,5956.1396,-17219.7891,8,0.8,19,7.7,0.4,228.6,11,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-2.4
$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,-487.5,2396,1942,2368,4092,0.0,0.0,0,21,6.53,0.00,-1.02,0.000,20482,0.025,0.000,1761,1943,2477,2477,4094,0,0,0,0,0,0,26.13,28.83,26.18,10.36,53.78
$GC,28,-1.80,-487.5,1761,1942,2476,4094,0.1,0.0,1,37,0.00,0.00,-5.57,0.000,16390,0.000,0.000,1761,1942,3058,3058,4094,0,0,0,0,0,0,26.41,24.46,26.41,10.38,53.38
$GC,77,-1.80,-487.5,1760,1942,3058,4094,2.4,-8.8,7,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1943,3059,3059,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.50,53.34
$GC,125,-1.80,-487.5,1760,1942,3061,4095,10.0,-17.1,13,135,0.00,1.08,0.00,0.000,516,0.000,0.050,1761,1520,3060,3060,4095,0,0,0,0,0,0,26.44,25.96,26.45,10.51,53.50
$GC,181,-1.80,-487.5,1760,1520,3062,4095,20.2,-18.0,20,189,0.00,1.02,0.00,0.000,1030,0.000,0.027,1761,1954,3062,3062,4095,0,0,0,0,0,0,26.19,26.16,26.21,10.52,52.87
$GC,229,-1.80,-487.5,1760,1954,3063,4095,28.7,-17.5,26,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1955,3064,3064,4094,0,0,0,0,0,0,26.51,26.52,26.52,10.49,53.26
$GC,277,-1.80,-487.5,1760,1954,3064,4094,35.3,-14.4,32,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3065,3065,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.45,51.92
$GC,324,-1.80,-487.5,1760,1954,3066,4095,42.1,-14.3,38,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1954,3066,3066,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.42,50.98
$GC,372,-1.80,-487.5,1760,1954,3067,4095,49.3,-15.5,44,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1954,3068,3068,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.41,49.88
$STATE,408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,408,begin apogee
$GC,422,-0.45,0.0,1760,2136,3069,4095,55.2,-15.4,49,458,4.60,0.00,28.58,1.252,10244,0.054,0.000,2186,2137,2484,2484,4094,0,0,0,0,0,0,26.11,25.29,24.13,10.40,49.29
$STATE,459,end apogee,CONTROL_FINISHED_OK
$STATE,459,begin climb
$GC,465,1.80,487.5,2186,2136,2483,4094,59.2,0.0,53,509,7.60,0.00,27.83,1.225,11270,0.031,0.000,2900,2137,1920,1920,4094,0,0,0,0,0,0,25.67,25.85,23.80,10.28,47.87
$GC,551,1.80,487.5,2899,2136,1919,4094,52.9,11.9,63,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2137,1919,1919,4094,0,0,0,0,0,0,25.70,25.72,25.71,10.15,46.69
$GC,601,1.80,487.5,2899,2137,1917,4094,46.7,13.4,69,610,0.00,1.12,0.00,0.000,516,0.000,0.044,2900,1713,1917,1917,4094,0,0,0,0,0,0,25.91,25.50,25.92,10.14,46.81
$GC,755,1.80,487.5,2900,1713,1913,4094,26.7,12.6,91,763,0.00,1.02,0.00,0.000,1030,0.000,0.029,2900,2132,1913,1913,4094,0,0,0,0,0,0,25.96,25.91,25.96,10.15,47.71
$GC,803,1.83,505.0,2900,2131,1912,4094,21.3,10.5,97,813,0.00,0.00,2.55,0.218,8198,0.000,0.000,2900,2132,1897,1897,4094,0,0,0,0,0,0,26.31,24.81,24.15,10.19,49.80
$GC,853,1.92,566.6,2899,2132,1896,4094,16.2,9.9,103,863,0.32,0.00,5.18,0.535,10246,0.035,0.000,2941,2132,1822,1822,4094,0,0,0,0,0,0,26.11,25.44,24.47,10.21,51.69
$GC,904,1.92,566.6,2940,2131,1821,4094,10.3,12.3,109,914,0.00,1.10,0.00,0.000,516,0.000,0.047,2941,1716,1821,1821,4094,0,0,0,0,0,0,26.34,25.89,26.35,10.20,52.79
$STATE,967,end climb,FINISH_DEPTH_REACHED
$STATE,967,begin subsurface finish
$FINISH1,1.2,1.024139,102
$GC,982,0.15,101.8,2941,2140,1818,4094,1.2,13.1,118,1001,5.90,1.20,-5.00,0.000,20996,0.049,1.227,2388,1715,2369,2369,4094,0,0,0,0,0,0,26.13,24.08,26.17,10.22,53.15
$FINISH2,0.0
$STATE,1002,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1003,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,221635
$TT8_MAMPS,0.025466,0.25466
$HUMID,53.30
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.30
$XPDR_PINGS,0
$24V_AH,23.80,68.838
$10V_AH,10.05,62.563
$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,24.950,8.575,64.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,343.264,0.000,106.956,498.528,116.927,0.000,310.858,0.000,294.827,0.000,0.542,0.000
$DEVICE_MAMPS,54.315,1227.060,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.649,326.091,257.960,382.517,497.209,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330624
$DATA_FILE_SIZE,10856,120
$CAP_FILE_SIZE,23358,0
$CFSIZE,1024409600,904069120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,233150,5956.140,-17219.789,8,0.8,19,7.7,0.4,228.6,11,5.0