version: 66.13
glider: 401
mission: 22
dive: 2291
start: 9 5 117 0 31 57
data:
$ID,401
$MISSION,22
$DIVE,2291
$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,27
$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
$GPS1,050917,001133,6000.4023,-17236.5859,5,0.7,33,7.6,0.0,256.7,11,4.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.1
$GPS2,050917,001133,6000.4023,-17236.5859,5,0.7,33,7.6,0.0,256.7,11,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$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,108.5,27475,-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,-487.5,2389,1946,2365,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.021,0.000,1834,1947,2365,2365,4094,0,0,0,0,0,0,26.47,28.83,28.83,10.37,52.28
$GC,25,-1.80,-487.5,1833,1948,2365,4094,0.1,0.0,1,38,0.47,0.00,-6.45,0.000,20998,0.030,0.000,1774,1947,3061,3061,4094,0,0,0,0,0,0,26.21,24.51,26.24,10.37,52.52
$GC,73,-1.80,-487.5,1774,1947,3060,4094,4.3,-14.7,8,80,0.00,1.08,0.00,0.000,516,0.000,0.050,1774,1522,3062,3062,4095,0,0,0,0,0,0,26.41,25.97,26.43,10.52,52.12
$GC,163,-1.80,-487.5,1774,1522,3065,4095,20.8,-18.5,22,169,0.00,1.02,0.00,0.000,1030,0.000,0.028,1774,1951,3065,3065,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.53,51.69
$GC,205,-1.80,-487.5,1774,1950,3066,4094,27.7,-15.3,28,211,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1950,3066,3066,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.51,52.04
$GC,246,-1.80,-487.5,1774,1950,3067,4095,33.7,-14.2,34,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3068,3068,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.48,51.45
$GC,287,-1.80,-487.5,1774,1951,3069,4094,39.7,-14.7,40,293,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1951,3069,3069,4095,0,0,0,0,0,0,26.56,26.57,26.57,10.46,50.47
$GC,328,-1.80,-487.5,1774,1952,3070,4095,45.5,-14.1,46,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1952,3069,3069,4094,0,0,0,0,0,0,26.58,26.59,26.59,10.44,49.88
$GC,369,-1.80,-487.5,1773,1952,3070,4094,51.1,-13.7,52,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,1952,3070,3070,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.43,49.05
$STATE,392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,392,begin apogee
$GC,405,-0.45,0.0,1774,2144,3071,4094,55.0,-13.6,56,441,4.45,0.00,28.45,1.252,10244,0.052,0.000,2186,2144,2484,2484,4094,0,0,0,0,0,0,26.14,25.32,24.20,10.42,48.74
$STATE,442,end apogee,CONTROL_FINISHED_OK
$STATE,443,begin climb
$GC,448,1.80,487.5,2186,2144,2484,4094,58.8,0.0,62,490,7.57,0.00,27.88,1.220,11270,0.030,0.000,2898,2144,1916,1916,4095,0,0,0,0,0,0,25.69,25.85,23.84,10.30,48.03
$GC,525,1.80,487.5,2898,2144,1915,4095,52.9,12.1,74,532,0.00,1.15,0.00,0.000,516,0.000,0.043,2899,1713,1915,1915,4094,0,0,0,0,0,0,25.67,25.31,25.67,10.17,46.88
$GC,628,1.80,487.5,2898,1712,1912,4094,39.5,13.3,90,634,0.00,1.02,0.00,0.000,1030,0.000,0.028,2899,2130,1912,1912,4094,0,0,0,0,0,0,25.76,25.73,25.79,10.16,47.04
$GC,670,1.80,487.5,2898,2130,1911,4094,34.2,12.4,96,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2130,1911,1911,4095,0,0,0,0,0,0,26.14,26.15,26.15,10.16,47.63
$GC,711,1.80,487.5,2898,2130,1910,4095,29.2,12.4,102,717,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2130,1909,1909,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.17,48.77
$GC,752,1.80,487.5,2898,2130,1908,4094,24.3,12.1,108,759,0.00,1.10,0.00,0.000,516,0.000,0.044,2899,1712,1908,1908,4094,0,0,0,0,0,0,26.27,25.84,26.28,10.19,49.17
$GC,919,1.81,494.2,2898,1712,1904,4094,7.7,10.7,134,925,0.00,0.98,0.00,0.000,1030,0.000,0.028,2899,2119,1904,1904,4094,0,0,0,0,0,0,26.14,26.10,26.17,10.24,52.99
$GC,961,1.81,494.2,2898,2118,1903,4094,2.6,10.8,140,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2119,1903,1903,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.24,52.63
$STATE,971,end climb,FINISH_DEPTH_REACHED
$STATE,972,begin subsurface finish
$FINISH1,0.8,1.024081,106
$GC,985,0.16,105.8,2899,2119,1902,4094,0.8,11.1,142,998,5.18,0.00,-4.15,0.000,20486,0.023,0.000,2391,2119,2366,2366,4094,0,0,0,0,0,0,26.20,24.46,26.25,10.25,53.66
$FINISH2,0.1
$STATE,999,end subsurface finish,CONTROL_FINISHED_OK
$STATE,999,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050917,000234
$TT8_MAMPS,0.025466,0.103362
$HUMID,53.70
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.90
$XPDR_PINGS,0
$24V_AH,23.84,67.051
$10V_AH,10.35,61.243
$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,23.250,7.300,56.325,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.743,226.174,128.529,210.318,119.034,0.000,287.111,0.000,218.725,0.000,0.544,0.000
$DEVICE_MAMPS,52.020,49.725,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330676
$DATA_FILE_SIZE,10804,144
$CAP_FILE_SIZE,24141,0
$CFSIZE,1024409600,906903552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,001133,6000.402,-17236.586,5,0.7,33,7.6,0.0,256.7,11,4.9