version: 66.13
glider: 401
mission: 22
dive: 2338
start: 9 5 117 19 56 13
data:
$ID,401
$MISSION,22
$DIVE,2338
$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,16
$R_STBD_OVSHOOT,50
$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
$GPS1,050917,194155,5957.0698,-17219.9062,5,0.8,14,7.7,0.5,249.1,10,4.6
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-40.4
$GPS2,050917,195534,5957.0249,-17219.9766,5,0.8,16,7.7,0.0,317.4,10,4.9
$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,103.6,53013,-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,6,begin dive
$GC,12,-1.80,-487.5,238,1956,1860,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.099,0.000,942,1952,1860,1860,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.29,52.87
$GC,29,-1.80,-487.5,942,1952,1860,4094,0.7,0.0,1,56,8.70,0.00,-11.25,0.000,18950,0.041,0.000,1756,1953,3054,3054,4094,0,0,0,0,0,0,25.89,25.39,25.93,10.29,52.28
$GC,97,-1.80,-487.5,1755,1954,3055,4094,0.0,-0.1,9,105,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3055,3055,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.55,51.85
$GC,146,-1.80,-487.5,1755,1954,3056,4094,5.1,-14.2,15,155,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3056,3056,4095,0,0,0,0,0,0,26.32,26.34,26.34,10.55,51.22
$GC,195,-1.80,-487.5,1755,1954,3058,4095,14.1,-17.8,21,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1954,3058,3058,4095,0,0,0,0,0,0,26.38,26.39,26.39,10.55,51.02
$GC,244,-1.80,-487.5,1755,1954,3059,4095,22.9,-18.2,27,254,0.00,1.12,0.00,0.000,516,0.000,0.047,1756,1512,3060,3060,4095,0,0,0,0,0,0,26.42,25.94,26.43,10.56,51.14
$GC,328,-1.80,-487.5,1755,1511,3061,4095,36.2,-13.8,38,337,0.00,0.98,0.00,0.000,1030,0.000,0.025,1756,1934,3062,3062,4094,0,0,0,0,0,0,26.19,26.17,26.22,10.47,49.72
$GC,378,-1.80,-487.5,1756,1934,3063,4094,43.0,-13.7,44,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1934,3063,3063,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.45,48.77
$GC,427,-1.80,-487.5,1756,1933,3064,4095,50.1,-14.5,50,436,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1934,3064,3064,4094,0,0,0,0,0,0,26.55,26.56,26.55,10.43,47.36
$STATE,457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,457,begin apogee
$GC,470,-0.45,0.0,1756,2134,3065,4095,55.5,-14.7,54,506,4.62,0.00,28.42,1.255,10244,0.054,0.000,2184,2134,2484,2484,4094,0,0,0,0,0,0,26.07,25.27,24.10,10.43,47.04
$STATE,507,end apogee,CONTROL_FINISHED_OK
$STATE,507,begin climb
$GC,513,1.80,487.5,2184,2134,2484,4094,59.5,0.0,58,558,7.57,1.15,28.15,1.228,10756,0.029,0.041,2903,1697,1915,1915,4094,0,0,0,0,0,0,25.55,25.49,23.77,10.30,46.37
$GC,657,1.80,487.5,2903,1696,1912,4094,46.7,12.3,76,666,0.00,1.08,0.00,0.000,1030,0.000,0.028,2903,2132,1912,1912,4094,0,0,0,0,0,0,25.67,25.62,25.67,10.16,45.62
$GC,708,1.80,487.5,2903,2131,1911,4094,39.4,12.8,82,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2132,1910,1910,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.15,45.98
$GC,757,1.80,487.5,2903,2131,1909,4094,32.9,12.9,88,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1909,1909,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.14,46.22
$GC,807,1.80,487.5,2901,2131,1908,4094,26.7,12.4,94,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2131,1907,1907,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.15,46.61
$GC,858,1.91,557.3,2903,2131,1906,4094,21.9,9.7,100,869,0.25,1.15,5.20,0.573,10756,0.041,0.046,2937,1698,1833,1833,4094,0,0,0,0,0,0,26.08,25.53,24.41,10.20,48.38
$GC,961,1.91,557.3,2936,1697,1830,4094,10.9,11.4,114,970,0.00,1.05,0.00,0.000,1030,0.000,0.030,2937,2127,1830,1830,4094,0,0,0,0,0,0,26.06,26.01,26.08,10.22,51.89
$GC,1010,1.91,557.3,2936,2127,1828,4094,4.7,13.4,120,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2127,1828,1828,4094,0,0,0,0,0,0,26.41,26.43,26.43,10.23,52.52
$STATE,1034,end climb,FINISH_DEPTH_REACHED
$STATE,1034,begin subsurface finish
$FINISH1,1.3,1.024129,103
$GC,1048,0.15,102.5,2937,2132,1828,4094,1.3,12.1,123,1067,5.55,1.27,-4.68,0.000,20740,0.021,1.242,2386,2562,2364,2364,4094,0,0,0,0,0,0,26.19,24.11,26.22,10.23,52.36
$FINISH2,0.2
$STATE,1068,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1068,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,050917,194633
$TT8_MAMPS,0.026215,0.245672
$HUMID,52.67
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.77,68.551
$10V_AH,10.02,62.344
$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,35.175,8.350,61.775,0.000,0.000,49.847,45.660,363.797,0.000,0.000,17.318,374.535,45.602,118.431,933.858,419.063,0.000,345.129,0.000,307.594,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1242.360,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,84.897,339.607,268.758,398.381,519.104,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329308
$DATA_FILE_SIZE,10809,125
$CAP_FILE_SIZE,30613,0
$CFSIZE,1024409600,904560640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050917,195534,5957.025,-17219.977,5,0.8,16,7.7,0.0,317.4,10,4.9