version: 66.13
glider: 401
mission: 22
dive: 2299
start: 9 5 117 3 38 10
data:
$ID,401
$MISSION,22
$DIVE,2299
$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,26
$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
$GPS1,050917,032638,6000.7656,-17233.9199,4,0.7,16,7.6,0.3,40.4,11,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-44.2
$GPS2,050917,033731,6000.8066,-17233.9023,8,0.8,18,7.6,0.5,4.5,10,5.0
$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,112.4,25625,-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,-487.5,229,1940,1824,4092,0.0,0.0,0,18,5.60,0.00,0.00,0.000,2049,0.103,0.000,692,1941,1824,1824,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.27,51.10
$GC,25,-1.80,-487.5,692,1940,1824,4094,0.8,0.0,1,55,11.77,1.25,-11.35,0.000,18692,0.060,1.220,1753,2380,3055,3055,4094,0,0,0,0,0,0,25.89,24.01,25.94,10.28,51.18
$GC,190,-1.80,-487.5,1752,2380,3060,4094,23.1,-18.4,27,196,0.00,1.08,0.00,0.000,1030,0.000,0.029,1753,1947,3060,3060,4094,0,0,0,0,0,0,26.04,26.00,26.07,10.55,50.59
$GC,232,-1.80,-487.5,1752,1947,3061,4094,29.5,-13.7,33,238,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3061,3061,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.52,50.31
$GC,273,-1.80,-487.5,1752,1947,3062,4094,35.1,-13.8,39,279,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3062,3062,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.49,49.92
$GC,314,-1.80,-487.5,1753,1946,3063,4094,41.1,-14.6,45,320,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3063,3063,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.47,49.40
$GC,355,-1.80,-487.5,1753,1947,3064,4095,46.9,-13.9,51,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3064,3064,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.45,48.38
$GC,396,-1.80,-487.5,1753,1946,3065,4095,52.9,-14.6,57,402,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1947,3066,3066,4095,0,0,0,0,0,0,26.53,26.55,26.54,10.44,47.63
$STATE,407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,407,begin apogee
$GC,420,-0.45,0.0,1753,2145,3067,4094,55.4,-15.4,59,456,4.70,0.00,28.33,1.248,10244,0.054,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.06,25.26,24.11,10.44,47.24
$STATE,457,end apogee,CONTROL_FINISHED_OK
$STATE,457,begin climb
$GC,463,1.80,487.5,2186,2145,2484,4094,59.3,0.0,65,504,7.60,0.00,27.98,1.219,11270,0.029,0.000,2901,2145,1916,1916,4094,0,0,0,0,0,0,25.63,25.81,23.79,10.32,47.08
$GC,540,1.80,487.5,2900,2145,1915,4094,53.4,12.2,77,547,0.00,1.15,0.00,0.000,516,0.000,0.042,2901,1713,1915,1915,4094,0,0,0,0,0,0,25.64,25.29,25.65,10.18,46.33
$GC,618,1.80,487.5,2900,1713,1913,4094,43.6,12.5,89,624,0.00,1.02,0.00,0.000,1030,0.000,0.028,2901,2129,1913,1913,4094,0,0,0,0,0,0,25.69,25.65,25.72,10.17,46.14
$GC,660,1.80,487.5,2900,2129,1911,4094,38.4,13.0,95,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1912,1912,4095,0,0,0,0,0,0,26.07,26.08,26.08,10.18,46.45
$GC,701,1.80,487.5,2900,2129,1911,4095,33.1,12.7,101,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1910,1910,4095,0,0,0,0,0,0,26.15,26.17,26.17,10.17,46.77
$GC,742,1.80,487.5,2900,2129,1909,4095,27.9,12.6,107,748,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2129,1910,1910,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.16,46.88
$GC,783,1.80,487.5,2900,2129,1908,4094,22.6,13.3,113,789,0.00,1.08,0.00,0.000,516,0.000,0.043,2901,1718,1908,1908,4094,0,0,0,0,0,0,26.28,25.85,26.29,10.19,47.55
$GC,927,1.85,517.7,2901,1718,1904,4094,7.6,10.3,136,934,0.00,1.00,3.03,0.272,9222,0.000,0.029,2901,2131,1878,1878,4094,0,0,0,0,0,0,26.11,26.08,24.41,10.24,52.08
$GC,970,1.85,517.7,2901,2131,1878,4094,3.0,10.9,142,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2131,1877,1877,4094,0,0,0,0,0,0,26.44,26.46,26.45,10.24,52.95
$STATE,981,end climb,FINISH_DEPTH_REACHED
$STATE,981,begin subsurface finish
$FINISH1,1.2,1.024107,104
$GC,994,0.16,104.0,2901,2131,1877,4094,1.2,10.4,144,1008,5.22,0.00,-4.43,0.000,20486,0.021,0.000,2390,2131,2367,2367,4094,0,0,0,0,0,0,26.17,24.44,26.22,10.24,52.32
$FINISH2,0.0
$STATE,1009,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1009,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050917,022333
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.40
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.79,67.275
$10V_AH,10.19,61.420
$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,34.900,7.075,59.325,0.000,0.000,25.329,19.814,306.637,0.000,0.000,19.824,386.871,221.158,141.722,519.087,396.067,0.000,309.774,0.000,223.391,0.000,0.543,0.000
$DEVICE_MAMPS,103.275,1220.175,1248.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329292
$DATA_FILE_SIZE,10786,146
$CAP_FILE_SIZE,29435,0
$CFSIZE,1024409600,906510336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050917,033731,6000.807,-17233.902,8,0.8,18,7.6,0.5,4.5,10,5.0