version: 66.13
glider: 401
mission: 22
dive: 2339
start: 9 5 117 20 16 12
data:
$ID,401
$MISSION,22
$DIVE,2339
$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,22
$R_STBD_OVSHOOT,24
$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
$GPS1,050917,195534,5957.0249,-17219.9766,5,0.8,16,7.7,0.0,317.4,10,4.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.8
$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,5,begin dive
$GC,11,-1.80,-487.5,2386,1939,2365,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.021,0.000,1834,1939,2364,2364,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.36,53.11
$GC,25,-1.80,-487.5,1833,1939,2363,4094,0.1,0.0,1,38,0.50,0.00,-6.53,0.000,20486,0.031,0.000,1773,1939,3056,3056,4095,0,0,0,0,0,0,26.18,24.49,26.20,10.37,52.95
$GC,73,-1.80,-487.5,1772,1939,3057,4095,3.3,-10.6,8,79,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3057,3057,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.52,52.95
$GC,115,-1.80,-487.5,1772,1939,3058,4094,10.0,-17.9,14,120,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3058,3058,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.51,52.75
$GC,156,-1.80,-487.5,1772,1939,3060,4095,17.2,-17.8,20,161,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3060,3060,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.52,52.87
$GC,197,-1.80,-487.5,1772,1939,3061,4095,24.5,-18.3,26,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1939,3061,3061,4095,0,0,0,0,0,0,26.50,26.51,26.51,10.52,52.36
$GC,238,-1.80,-487.5,1772,1939,3062,4095,30.8,-14.8,32,244,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3062,3062,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.48,52.40
$GC,279,-1.80,-487.5,1772,1939,3063,4094,36.1,-13.1,38,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3063,3063,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.44,51.22
$GC,320,-1.80,-487.5,1772,1939,3064,4094,41.8,-13.9,44,326,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3064,3064,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.43,50.39
$GC,361,-1.80,-487.5,1772,1939,3064,4095,47.5,-13.7,50,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3066,3066,4095,0,0,0,0,0,0,26.58,26.60,26.59,10.41,49.76
$GC,402,-1.80,-487.5,1772,1939,3067,4095,53.1,-13.7,56,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1939,3067,3067,4095,0,0,0,0,0,0,26.60,26.61,26.61,10.41,49.29
$STATE,413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,413,begin apogee
$GC,426,-0.45,0.0,1773,2149,3067,4095,55.6,-14.5,58,462,4.45,0.00,28.33,1.248,10246,0.053,0.000,2185,2149,2484,2484,4094,0,0,0,0,0,0,26.13,25.31,24.15,10.40,48.66
$STATE,463,end apogee,CONTROL_FINISHED_OK
$STATE,463,begin climb
$GC,469,1.80,487.5,2185,2149,2484,4094,59.2,0.0,64,511,7.55,1.20,28.00,1.222,10756,0.030,0.045,2899,1708,1915,1915,4095,0,0,0,0,0,0,25.69,25.01,23.80,10.28,48.14
$GC,623,1.80,487.5,2898,1707,1912,4095,43.1,13.1,88,629,0.00,1.05,0.00,0.000,1030,0.000,0.029,2899,2132,1912,1912,4095,0,0,0,0,0,0,25.69,25.65,25.72,10.13,47.20
$GC,665,1.80,487.5,2899,2132,1911,4095,37.2,14.1,94,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2132,1911,1911,4094,0,0,0,0,0,0,26.08,26.10,26.10,10.12,47.75
$GC,706,1.80,487.5,2899,2132,1909,4094,31.4,13.7,100,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2132,1910,1910,4094,0,0,0,0,0,0,26.17,26.18,26.17,10.13,48.34
$GC,747,1.80,487.5,2898,2131,1908,4094,25.8,13.7,106,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2132,1908,1908,4095,0,0,0,0,0,0,26.23,26.25,26.25,10.13,48.66
$GC,788,1.82,498.6,2899,2132,1907,4095,21.2,10.6,112,796,0.00,1.12,2.15,0.086,8708,0.000,0.045,2899,1707,1902,1902,4094,0,0,0,0,0,0,26.29,25.29,24.02,10.17,48.74
$GC,916,1.84,513.4,2899,1707,1899,4094,7.8,10.6,132,923,0.00,1.02,2.53,0.179,9222,0.000,0.028,2899,2131,1884,1884,4094,0,0,0,0,0,0,26.11,26.07,24.32,10.22,53.74
$GC,959,1.96,589.1,2898,2131,1884,4094,3.6,9.6,138,972,0.43,0.00,5.75,0.476,10246,0.032,0.000,2947,2131,1794,1794,4094,0,0,0,0,0,0,26.20,25.19,24.65,10.22,53.66
$STATE,977,end climb,FINISH_DEPTH_REACHED
$STATE,977,begin subsurface finish
$FINISH1,1.0,1.024125,103
$GC,991,0.15,102.8,2947,2131,1793,4094,1.0,10.6,141,1004,5.65,0.00,-4.85,0.000,20486,0.018,0.000,2389,2131,2370,2370,4094,0,0,0,0,0,0,26.14,24.42,26.18,10.21,53.46
$FINISH2,0.4
$STATE,1005,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1005,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,050917,194633
$TT8_MAMPS,0.025466,0.107107
$HUMID,54.29
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.80,68.571
$10V_AH,10.33,62.354
$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,24.200,6.550,66.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,376.384,211.370,142.058,208.885,131.239,0.000,305.112,0.000,217.344,0.000,0.542,0.000
$DEVICE_MAMPS,52.785,45.135,1248.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.286,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,10869,143
$CAP_FILE_SIZE,26005,0
$CFSIZE,1024409600,904511488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,195534,5957.025,-17219.977,5,0.8,16,7.7,0.0,317.4,10,4.9