version: 66.13
glider: 401
mission: 22
dive: 2302
start: 9 5 117 4 45 56
data:
$ID,401
$MISSION,22
$DIVE,2302
$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,19
$R_STBD_OVSHOOT,57
$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
$GPS1,050917,043504,6000.6260,-17232.3398,5,0.8,23,7.6,0.5,61.1,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-44.2
$GPS2,050917,044517,6000.6626,-17232.2012,5,0.8,37,7.6,0.3,82.2,11,4.9
$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,113.8,24131,-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,12,-1.80,-487.5,236,1959,1870,4092,0.0,0.0,0,21,7.53,0.00,0.00,0.000,2049,0.101,0.000,861,1959,1870,1870,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.28,51.65
$GC,27,-1.80,-487.5,860,1959,1869,4094,0.8,0.0,1,55,9.77,1.10,-10.98,0.000,18692,0.054,1.221,1752,2352,3054,3054,4094,0,0,0,0,0,0,25.91,24.02,25.97,10.28,51.77
$GC,204,-1.80,-487.5,1751,2351,3059,4094,25.3,-18.9,25,213,0.00,1.02,0.00,0.000,1030,0.000,0.027,1752,1944,3060,3060,4094,0,0,0,0,0,0,26.15,26.10,26.15,10.53,50.94
$GC,253,-1.80,-487.5,1751,1944,3061,4094,32.4,-13.7,31,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1944,3061,3061,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.49,50.55
$GC,302,-1.80,-487.5,1751,1944,3062,4095,39.8,-15.4,37,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1944,3062,3062,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.47,49.13
$GC,351,-1.80,-487.5,1751,1944,3063,4094,47.2,-15.8,43,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1944,3064,3064,4095,0,0,0,0,0,0,26.53,26.53,26.53,10.45,48.11
$GC,399,-1.80,-487.5,1751,1944,3065,4095,54.5,-15.2,49,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1944,3065,3065,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.44,47.91
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,429,-0.45,0.0,1752,2116,3066,4095,58.1,-15.5,51,465,4.70,0.00,28.40,1.275,10244,0.055,0.000,2185,2116,2484,2484,4094,0,0,0,0,0,0,26.06,25.26,24.10,10.43,47.28
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2185,2116,2484,4094,62.4,0.0,55,516,7.65,0.00,28.12,1.252,11270,0.031,0.000,2902,2116,1915,1915,4094,0,0,0,0,0,0,25.63,25.81,23.75,10.31,46.57
$GC,558,1.80,487.5,2901,2115,1914,4094,56.5,11.8,65,568,0.00,1.10,0.00,0.000,516,0.000,0.045,2902,1709,1914,1914,4094,0,0,0,0,0,0,25.68,25.31,25.69,10.18,46.10
$GC,674,1.80,487.5,2902,1708,1911,4094,41.7,12.9,81,683,0.00,1.02,0.00,0.000,1030,0.000,0.028,2902,2127,1911,1911,4094,0,0,0,0,0,0,25.82,25.76,25.82,10.16,46.10
$GC,725,1.80,487.5,2902,2126,1909,4094,35.1,13.4,87,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1909,1909,4094,0,0,0,0,0,0,26.18,26.20,26.19,10.15,47.16
$GC,774,1.80,487.5,2901,2127,1908,4094,28.5,13.1,93,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1908,1908,4094,0,0,0,0,0,0,26.26,26.27,26.27,10.16,47.16
$GC,824,1.80,487.5,2901,2126,1906,4094,22.4,11.3,99,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1906,1906,4095,0,0,0,0,0,0,26.32,26.33,26.33,10.20,48.14
$GC,873,1.81,489.0,2902,2126,1905,4095,17.2,10.8,105,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2126,1905,1905,4094,0,0,0,0,0,0,26.37,26.38,26.38,10.22,50.00
$GC,923,1.81,489.0,2902,2126,1903,4094,11.7,11.2,111,932,0.00,1.10,0.00,0.000,516,0.000,0.046,2902,1708,1903,1903,4094,0,0,0,0,0,0,26.41,25.94,26.42,10.23,51.22
$STATE,1005,end climb,FINISH_DEPTH_REACHED
$STATE,1006,begin subsurface finish
$FINISH1,1.8,1.024119,103
$GC,1020,0.15,103.2,2902,2149,1901,4094,1.8,10.7,123,1039,5.22,0.00,-4.20,0.000,20486,0.023,0.000,2386,2149,2365,2365,4095,0,0,0,0,0,0,26.21,25.49,26.25,10.25,51.81
$FINISH2,0.1
$STATE,1040,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1040,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,033115
$TT8_MAMPS,0.025466,0.247919
$HUMID,52.20
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.75,67.355
$10V_AH,10.04,61.495
$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,34.875,6.950,56.525,0.000,0.000,23.268,17.205,263.703,0.000,0.000,38.890,363.314,0.000,111.568,803.032,379.559,0.000,329.274,0.000,309.717,0.000,0.543,0.000
$DEVICE_MAMPS,100.980,1220.940,1275.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.641,339.636,268.789,398.524,520.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329344
$DATA_FILE_SIZE,10937,125
$CAP_FILE_SIZE,26803,0
$CFSIZE,1024409600,906362880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,044517,6000.663,-17232.201,5,0.8,37,7.6,0.3,82.2,11,4.9