version: 66.13
glider: 401
mission: 22
dive: 2314
start: 9 5 117 9 30 53
data:
$ID,401
$MISSION,22
$DIVE,2314
$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,28
$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
$GPS1,050917,091851,5958.8184,-17226.7695,13,0.7,38,7.7,0.2,256.6,11,4.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-41.4
$GPS2,050917,093014,5958.7637,-17226.9316,9,0.8,18,7.7,0.0,243.8,10,4.7
$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,112.2,18127,-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,-487.5,239,1949,1833,4092,0.0,0.0,0,21,8.52,0.00,0.00,0.000,2049,0.100,0.000,945,1949,1833,1833,4094,0,0,0,0,0,0,26.33,28.83,28.83,10.27,52.87
$GC,28,-1.80,-487.5,945,1949,1833,4094,0.8,0.0,1,54,8.75,0.00,-11.35,0.000,18438,0.048,0.000,1753,1949,3058,3058,4094,0,0,0,0,0,0,25.90,25.42,25.91,10.28,52.16
$GC,95,-1.80,-487.5,1752,1949,3058,4094,4.0,-13.3,9,104,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3059,3059,4095,0,0,0,0,0,0,26.30,26.32,26.31,10.54,52.36
$GC,145,-1.80,-487.5,1752,1949,3060,4095,12.6,-18.1,15,153,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3061,3061,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.54,51.45
$GC,194,-1.80,-487.5,1752,1949,3062,4095,21.7,-18.4,21,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3062,3062,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.54,51.18
$GC,244,-1.80,-487.5,1752,1948,3064,4095,30.7,-17.3,27,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3064,3064,4095,0,0,0,0,0,0,26.45,26.46,26.46,10.51,50.63
$GC,294,-1.80,-487.5,1752,1948,3065,4095,37.6,-13.7,33,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3065,3065,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.48,49.80
$GC,344,-1.80,-487.5,1752,1948,3066,4094,44.7,-14.4,39,353,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1949,3066,3066,4094,0,0,0,0,0,0,26.51,26.53,26.52,10.45,48.77
$GC,394,-1.80,-487.5,1752,1948,3068,4094,51.6,-14.0,45,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,1948,3068,3068,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.44,47.55
$STATE,417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,417,begin apogee
$GC,430,-0.45,0.0,1752,2148,3069,4095,56.0,-14.1,48,466,4.68,0.00,28.50,1.257,10246,0.054,0.000,2186,2148,2483,2483,4094,0,0,0,0,0,0,26.07,25.26,24.11,10.43,46.92
$STATE,467,end apogee,CONTROL_FINISHED_OK
$STATE,467,begin climb
$GC,473,1.80,487.5,2185,2148,2484,4094,60.3,0.0,52,518,7.57,0.00,28.08,1.233,10246,0.031,0.000,2901,2148,1916,1916,4094,0,0,0,0,0,0,25.64,24.49,23.75,10.31,46.65
$GC,559,1.80,487.5,2901,2148,1915,4094,54.0,12.0,62,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2148,1914,1914,4094,0,0,0,0,0,0,25.68,25.70,25.70,10.17,45.66
$GC,609,1.80,487.5,2900,2147,1912,4094,47.8,12.2,68,618,0.00,1.15,0.00,0.000,516,0.000,0.043,2901,1715,1913,1913,4094,0,0,0,0,0,0,25.89,25.50,25.91,10.17,45.70
$GC,786,2.00,617.3,2901,1714,1908,4094,27.5,8.8,93,805,0.55,1.02,8.15,0.735,11270,0.024,0.028,2967,2136,1766,1766,4094,0,0,0,0,0,0,26.00,25.94,24.45,10.20,47.95
$GC,846,2.00,617.3,2966,2137,1765,4094,20.8,11.5,100,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2137,1765,1765,4094,0,0,0,0,0,0,26.23,26.25,26.24,10.19,50.51
$GC,896,2.00,617.3,2966,2136,1763,4094,14.5,12.8,106,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2136,1763,1763,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.21,51.18
$GC,946,2.00,617.3,2966,2136,1762,4094,8.1,12.5,112,955,0.00,1.12,0.00,0.000,516,0.000,0.047,2967,1710,1761,1761,4094,0,0,0,0,0,0,26.35,25.89,26.36,10.21,52.00
$STATE,991,end climb,FINISH_DEPTH_REACHED
$STATE,991,begin subsurface finish
$FINISH1,1.4,1.024139,102
$GC,1006,0.15,101.8,2967,2142,1759,4094,1.4,13.0,118,1025,5.90,0.00,-5.43,0.000,20486,0.019,0.000,2389,2143,2371,2371,4094,0,0,0,0,0,0,26.09,25.44,26.14,10.22,52.59
$FINISH2,0.3
$STATE,1026,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1026,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,092320
$TT8_MAMPS,0.025466,0.255409
$HUMID,52.55
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.75,67.704
$10V_AH,10.04,61.761
$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,35.975,4.900,64.725,0.000,0.000,53.469,41.749,246.404,0.000,0.000,19.253,357.207,45.208,119.508,804.524,386.682,0.000,342.885,0.000,296.393,0.000,0.543,0.000
$DEVICE_MAMPS,100.215,46.665,1256.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,81.045,326.083,257.935,382.558,499.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,10916,120
$CAP_FILE_SIZE,27690,0
$CFSIZE,1024409600,905773056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,050917,093014,5958.764,-17226.932,9,0.8,18,7.7,0.0,243.8,10,4.7