version: 66.13
glider: 401
mission: 22
dive: 2321
start: 9 5 117 12 6 28
data:
$ID,401
$MISSION,22
$DIVE,2321
$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
$GPS1,050917,114701,5957.8472,-17226.5645,5,0.8,39,7.7,0.0,272.6,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.0
$GPS2,050917,114701,5957.8472,-17226.5645,5,0.8,39,7.7,0.0,272.6,10,4.1
$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,107.9,17033,-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,-487.5,2389,1956,2367,4092,0.0,0.0,0,25,6.38,0.00,-4.65,0.000,20482,0.021,0.000,1764,1956,2870,2870,4094,0,0,0,0,0,0,26.15,28.83,26.18,10.37,51.73
$GC,31,-1.80,-487.5,1764,1956,2870,4094,0.0,-0.4,2,39,0.00,1.23,-1.70,0.000,16644,0.000,1.222,1764,2383,3056,3056,4094,0,0,0,0,0,0,26.45,24.17,26.41,10.48,52.24
$GC,92,-1.80,-487.5,1763,2383,3057,4094,6.5,-15.5,11,98,0.00,1.08,0.00,0.000,1030,0.000,0.029,1764,1954,3058,3058,4094,0,0,0,0,0,0,26.09,26.06,26.13,10.52,51.96
$GC,134,-1.80,-487.5,1764,1953,3059,4094,14.1,-18.5,17,139,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3059,3059,4095,0,0,0,0,0,0,26.45,26.47,26.46,10.52,52.36
$GC,175,-1.80,-487.5,1763,1953,3060,4095,21.6,-18.5,23,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3060,3060,4094,0,0,0,0,0,0,26.48,26.49,26.49,10.53,51.96
$GC,216,-1.80,-487.5,1763,1953,3062,4094,28.9,-18.3,29,222,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3062,3062,4095,0,0,0,0,0,0,26.51,26.52,26.52,10.53,51.53
$GC,257,-1.80,-487.5,1763,1953,3063,4095,35.1,-13.3,35,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3063,3063,4095,0,0,0,0,0,0,26.53,26.54,26.54,10.48,51.22
$GC,298,-1.80,-487.5,1764,1953,3064,4095,40.4,-13.0,41,304,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3064,3064,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.46,50.51
$GC,339,-1.80,-487.5,1763,1953,3065,4095,46.0,-13.7,47,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1954,3065,3065,4095,0,0,0,0,0,0,26.58,26.58,26.58,10.44,49.64
$GC,380,-1.80,-487.5,1763,1953,3066,4095,51.9,-14.1,53,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1953,3066,3066,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.42,49.52
$STATE,397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,397,begin apogee
$GC,410,-0.45,0.0,1764,2145,3067,4094,55.2,-14.5,56,447,4.55,0.00,28.23,1.237,10244,0.054,0.000,2186,2145,2484,2484,4094,0,0,0,0,0,0,26.11,25.31,24.18,10.42,48.62
$STATE,448,end apogee,CONTROL_FINISHED_OK
$STATE,448,begin climb
$GC,453,1.80,487.5,2186,2145,2483,4094,58.9,0.0,62,495,7.55,0.00,27.75,1.217,11270,0.030,0.000,2899,2145,1916,1916,4094,0,0,0,0,0,0,25.67,25.86,23.81,10.29,47.67
$GC,531,1.80,487.5,2899,2145,1915,4094,52.9,12.7,74,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1915,1915,4094,0,0,0,0,0,0,25.66,25.67,25.67,10.17,46.65
$GC,572,1.80,487.5,2899,2145,1914,4094,47.4,12.9,80,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2145,1914,1914,4094,0,0,0,0,0,0,25.86,25.86,25.86,10.15,46.69
$GC,614,1.80,487.5,2899,2145,1913,4094,42.0,13.1,86,620,0.00,1.15,0.00,0.000,516,0.000,0.044,2900,1713,1913,1913,4094,0,0,0,0,0,0,25.98,25.58,26.00,10.15,47.40
$GC,805,1.85,515.6,2899,1713,1908,4094,20.1,10.4,116,812,0.00,1.00,3.08,0.327,9222,0.000,0.028,2900,2126,1882,1882,4095,0,0,0,0,0,0,26.03,25.99,24.28,10.22,51.53
$GC,848,1.87,530.8,2899,2125,1881,4095,15.1,10.6,122,856,0.15,0.00,2.65,0.226,10246,0.057,0.000,2925,2126,1864,1864,4094,0,0,0,0,0,0,26.13,25.37,24.37,10.22,52.00
$GC,891,1.87,530.8,2925,2126,1863,4094,10.3,11.2,128,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2126,1863,1863,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.23,53.07
$GC,932,1.87,530.8,2925,2126,1861,4095,5.4,11.8,134,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2126,1861,1861,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.23,52.75
$STATE,956,end climb,FINISH_DEPTH_REACHED
$STATE,956,begin subsurface finish
$FINISH1,1.9,1.024083,106
$GC,969,0.16,105.7,2925,2126,1860,4094,1.9,12.1,138,983,5.47,0.00,-4.40,0.000,20486,0.021,0.000,2391,2126,2365,2365,4094,0,0,0,0,0,0,26.17,24.43,26.21,10.24,53.03
$FINISH2,0.2
$STATE,984,end subsurface finish,CONTROL_FINISHED_OK
$STATE,984,begin surface
$IRIDIUM_FIX,5952.82,-17420.78,050917,103302
$TT8_MAMPS,0.025466,0.107107
$HUMID,53.74
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.81,67.888
$10V_AH,10.34,61.901
$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,24.100,5.350,61.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,370.150,213.351,133.328,204.927,125.385,0.000,291.527,0.000,213.081,0.000,0.543,0.000
$DEVICE_MAMPS,56.610,1221.705,1237.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330668
$DATA_FILE_SIZE,10873,140
$CAP_FILE_SIZE,24807,0
$CFSIZE,1024409600,905428992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,114701,5957.847,-17226.564,5,0.8,39,7.7,0.0,272.6,10,4.1