version: 66.13
glider: 401
mission: 22
dive: 2330
start: 9 5 117 16 27 38
data:
$ID,401
$MISSION,22
$DIVE,2330
$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,2088.1152
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,050917,160745,5957.6899,-17224.1211,5,0.8,29,7.7,0.5,190.1,11,5.0
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-3.5
$GPS2,050917,160745,5957.6899,-17224.1211,5,0.8,29,7.7,0.5,190.1,11,5.0
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,103.4,57061,-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,-487.5,2391,1950,2368,4092,0.0,0.0,0,22,6.38,0.00,-2.03,0.000,20482,0.020,0.000,1763,1950,2587,2587,4094,0,0,0,0,0,0,26.23,28.83,26.28,10.38,52.67
$GC,28,-1.80,-487.5,1763,1950,2587,4094,0.0,0.0,1,38,0.00,0.00,-4.38,0.000,16390,0.000,0.000,1763,1950,3056,3056,4095,0,0,0,0,0,0,26.52,24.53,26.53,10.42,52.00
$GC,78,-1.80,-487.5,1762,1949,3057,4095,1.3,-4.6,7,86,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3057,3057,4095,0,0,0,0,0,0,26.48,26.49,26.49,10.53,52.28
$GC,126,-1.80,-487.5,1762,1949,3058,4095,8.5,-16.6,13,134,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3059,3059,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.53,52.20
$GC,174,-1.80,-487.5,1762,1950,3060,4094,17.3,-18.3,19,182,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1950,3060,3060,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.54,52.12
$GC,221,-1.80,-487.5,1762,1949,3062,4095,25.9,-17.8,25,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1949,3062,3062,4094,0,0,0,0,0,0,26.56,26.58,26.58,10.53,51.85
$GC,269,-1.80,-487.5,1762,1950,3063,4094,32.4,-12.8,31,277,0.00,1.12,0.00,0.000,260,0.000,0.044,1763,2375,3063,3063,4095,0,0,0,0,0,0,26.59,26.11,26.60,10.48,51.77
$GC,356,-1.80,-487.5,1762,2375,3065,4095,43.6,-12.6,43,364,0.00,1.05,0.00,0.000,1030,0.000,0.029,1763,1954,3065,3065,4095,0,0,0,0,0,0,26.29,26.25,26.32,10.44,49.64
$GC,404,-1.80,-487.5,1762,1953,3066,4095,50.4,-14.4,49,412,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1954,3067,3067,4094,0,0,0,0,0,0,26.65,26.66,26.65,10.43,48.54
$STATE,433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,433,begin apogee
$GC,446,-0.45,0.0,1762,2146,3068,4094,55.2,-14.3,53,489,4.55,0.00,28.33,1.236,10244,0.054,0.000,2186,2145,2483,2483,4095,0,0,0,0,0,0,26.17,25.23,24.23,10.42,48.58
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,496,1.80,487.5,2186,2145,2484,4095,59.7,0.0,58,540,7.57,0.00,27.88,1.218,11270,0.030,0.000,2902,2145,1915,1915,4094,0,0,0,0,0,0,25.75,25.94,23.84,10.30,48.03
$GC,582,1.80,487.5,2901,2145,1914,4094,53.4,11.8,68,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2146,1914,1914,4094,0,0,0,0,0,0,25.77,25.77,25.77,10.17,46.14
$GC,632,1.80,487.5,2901,2145,1913,4094,46.8,13.3,74,641,0.00,1.17,0.00,0.000,516,0.000,0.045,2902,1707,1912,1912,4094,0,0,0,0,0,0,25.96,25.56,25.97,10.16,46.33
$GC,748,1.80,487.5,2901,1707,1909,4094,31.7,13.1,90,758,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2118,1909,1909,4094,0,0,0,0,0,0,25.94,25.90,25.96,10.15,47.32
$GC,799,1.80,487.5,2901,2117,1908,4094,25.3,12.6,96,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2118,1908,1908,4094,0,0,0,0,0,0,26.30,26.32,26.31,10.16,47.79
$GC,849,1.90,554.0,2901,2117,1907,4094,20.4,9.8,102,860,0.25,0.00,4.97,0.546,10246,0.038,0.000,2938,2118,1837,1837,4094,0,0,0,0,0,0,26.12,25.46,24.46,10.21,49.25
$GC,901,1.92,568.1,2937,2117,1836,4094,15.2,10.6,108,910,0.00,0.00,2.45,0.174,8198,0.000,0.000,2938,2118,1822,1822,4094,0,0,0,0,0,0,26.35,25.03,24.42,10.21,50.90
$GC,952,1.92,568.1,2937,2117,1821,4094,9.6,11.4,114,961,0.00,1.08,0.00,0.000,516,0.000,0.047,2938,1706,1822,1822,4094,0,0,0,0,0,0,26.39,25.92,26.40,10.22,52.04
$STATE,1014,end climb,FINISH_DEPTH_REACHED
$STATE,1015,begin subsurface finish
$FINISH1,1.4,1.024107,104
$GC,1029,0.16,104.1,2938,2149,1820,4094,1.4,11.7,123,1048,5.62,0.00,-4.82,0.000,20486,0.025,0.000,2390,2149,2360,2360,4094,0,0,0,0,0,0,26.16,25.56,26.21,10.23,52.67
$FINISH2,0.0
$STATE,1049,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1049,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,155553
$TT8_MAMPS,0.025466,0.253162
$HUMID,53.50
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,5.00
$XPDR_PINGS,0
$24V_AH,23.84,68.283
$10V_AH,10.07,62.144
$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,24.375,7.475,63.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,358.237,1.362,114.052,517.155,121.373,0.000,328.639,0.000,305.883,0.000,0.544,0.000
$DEVICE_MAMPS,54.315,46.665,1236.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.984,339.651,268.722,398.199,515.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330588
$DATA_FILE_SIZE,10914,125
$CAP_FILE_SIZE,24511,0
$CFSIZE,1024409600,904822784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,160745,5957.690,-17224.121,5,0.8,29,7.7,0.5,190.1,11,5.0