version: 66.13
glider: 401
mission: 22
dive: 2309
start: 9 5 117 7 23 7
data:
$ID,401
$MISSION,22
$DIVE,2309
$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,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
$GPS1,050917,070303,5959.9009,-17228.6953,5,0.9,15,7.6,0.0,0.0,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-0.8
$GPS2,050917,070303,5959.9009,-17228.6953,5,0.9,15,7.6,0.0,0.0,9,4.9
$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,115.1,20622,-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,-487.5,2348,1994,2492,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.023,0.000,1801,1995,2492,2492,4094,0,0,0,0,0,0,26.47,28.83,28.83,10.38,52.16
$GC,25,-1.80,-487.5,1801,1994,2492,4094,0.0,0.0,1,39,0.15,1.00,-5.25,0.000,20740,0.055,1.228,1775,2350,3057,3057,4094,0,0,0,0,0,0,26.25,24.15,26.26,10.38,52.55
$GC,86,-1.80,-487.5,1774,2350,3058,4094,6.1,-14.5,10,92,0.00,1.00,0.00,0.000,1030,0.000,0.031,1775,1949,3058,3058,4095,0,0,0,0,0,0,26.06,26.01,26.09,10.51,53.07
$GC,128,-1.80,-487.5,1774,1949,3060,4095,13.3,-17.2,16,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3060,3060,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.51,52.16
$GC,169,-1.80,-487.5,1774,1948,3061,4095,20.5,-17.3,22,174,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3062,3062,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.52,52.36
$GC,210,-1.80,-487.5,1774,1949,3062,4095,27.3,-16.0,28,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3062,3062,4094,0,0,0,0,0,0,26.48,26.50,26.50,10.50,51.92
$GC,251,-1.80,-487.5,1774,1949,3064,4094,32.6,-12.2,34,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3064,3064,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.46,51.53
$GC,292,-1.80,-487.5,1774,1949,3064,4094,38.0,-13.3,40,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3064,3064,4094,0,0,0,0,0,0,26.53,26.55,26.55,10.44,50.51
$GC,333,-1.80,-487.5,1774,1949,3066,4094,43.6,-13.5,46,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3066,3066,4094,0,0,0,0,0,0,26.55,26.57,26.57,10.42,50.35
$GC,374,-1.80,-487.5,1774,1949,3067,4094,49.4,-14.0,52,380,0.00,1.08,0.00,0.000,516,0.000,0.050,1775,1522,3067,3067,4095,0,0,0,0,0,0,26.58,26.08,26.58,10.41,49.29
$STATE,410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,410,begin apogee
$GC,424,-0.45,0.0,1774,2107,3068,4094,55.4,-14.4,58,461,4.43,0.05,28.38,1.248,10244,0.054,0.157,2185,2147,2484,2484,4094,0,0,0,0,0,0,26.11,25.30,24.17,10.40,48.97
$STATE,462,end apogee,CONTROL_FINISHED_OK
$STATE,462,begin climb
$GC,468,1.80,487.5,2184,2146,2484,4094,59.4,0.0,64,510,7.62,0.00,27.98,1.223,11270,0.031,0.000,2900,2147,1916,1916,4095,0,0,0,0,0,0,25.67,25.85,23.81,10.28,47.95
$GC,545,1.80,487.5,2899,2146,1915,4095,53.9,11.9,76,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2147,1915,1915,4094,0,0,0,0,0,0,25.65,25.67,25.66,10.15,46.85
$GC,587,1.80,487.5,2899,2147,1914,4094,48.8,12.3,82,594,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1717,1914,1914,4094,0,0,0,0,0,0,25.84,25.46,25.86,10.14,46.57
$GC,743,1.80,487.5,2899,1716,1910,4094,30.4,11.6,107,750,0.00,1.00,0.00,0.000,1030,0.000,0.030,2900,2126,1910,1910,4094,0,0,0,0,0,0,25.92,25.89,25.95,10.13,48.07
$GC,785,1.81,491.2,2899,2126,1908,4094,25.8,10.7,113,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2126,1908,1908,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.14,48.50
$GC,827,2.04,647.9,2899,2126,1908,4094,22.3,8.4,119,840,0.75,0.00,9.77,0.739,10246,0.026,0.000,2982,2126,1728,1728,4094,0,0,0,0,0,0,26.08,25.48,24.53,10.18,49.40
$GC,875,2.04,647.9,2982,2126,1727,4094,17.0,11.3,126,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2126,1727,1727,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.16,51.06
$GC,917,2.04,647.9,2981,2126,1726,4094,11.8,12.6,132,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2125,1725,1725,4094,0,0,0,0,0,0,26.29,26.31,26.30,10.17,52.24
$GC,958,2.04,647.9,2982,2125,1724,4094,6.4,13.3,138,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2126,1724,1724,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.18,53.34
$STATE,987,end climb,FINISH_DEPTH_REACHED
$STATE,987,begin subsurface finish
$FINISH1,1.5,1.024146,101
$GC,1001,0.15,101.3,2982,2126,1723,4094,1.5,14.0,143,1020,6.10,1.15,-5.75,0.000,20996,0.021,1.233,2389,1716,2368,2368,4094,0,0,0,0,0,0,26.10,24.10,26.13,10.19,53.81
$FINISH2,0.1
$STATE,1021,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1021,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,050917,054744
$TT8_MAMPS,0.025466,0.11235
$HUMID,53.78
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.81,67.541
$10V_AH,10.33,61.635
$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,24.675,8.500,66.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,381.695,218.508,145.766,213.188,124.885,0.000,311.925,0.000,221.519,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1233.180,1247.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,97.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330716
$DATA_FILE_SIZE,10839,146
$CAP_FILE_SIZE,26072,0
$CFSIZE,1024409600,906018816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,070303,5959.901,-17228.695,5,0.9,15,7.6,0.0,0.0,9,4.9