version: 66.13
glider: 401
mission: 22
dive: 2345
start: 9 5 117 22 42 35
data:
$ID,401
$MISSION,22
$DIVE,2345
$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,19
$R_STBD_OVSHOOT,40
$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
$GPS1,050917,222236,5956.3589,-17219.6211,5,0.8,22,7.7,0.8,296.1,11,5.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-3.9
$GPS2,050917,222236,5956.3589,-17219.6211,5,0.8,22,7.7,0.8,296.1,11,5.0
$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,102.5,52266,-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,12,-1.80,-487.5,2401,1950,2367,4092,0.0,0.0,0,25,6.47,0.00,-4.53,0.000,20482,0.021,0.000,1762,1955,2852,2852,4094,0,0,0,0,0,0,26.17,28.83,26.19,10.36,52.87
$GC,32,-1.80,-487.5,1762,1955,2852,4094,0.1,-1.6,2,38,0.00,0.00,-1.92,0.000,16902,0.000,0.000,1762,1955,3054,3054,4094,0,0,0,0,0,0,26.44,24.46,26.39,10.46,53.11
$GC,74,-1.80,-487.5,1761,1955,3056,4094,1.3,-5.1,8,80,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1955,3056,3056,4095,0,0,0,0,0,0,26.40,26.41,26.41,10.51,53.26
$GC,115,-1.80,-487.5,1761,1955,3057,4095,7.7,-17.0,14,121,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1955,3057,3057,4095,0,0,0,0,0,0,26.44,26.45,26.45,10.51,52.32
$GC,156,-1.80,-487.5,1761,1954,3058,4095,14.7,-17.0,20,162,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1955,3059,3059,4095,0,0,0,0,0,0,26.46,26.48,26.48,10.52,52.48
$GC,197,-1.80,-487.5,1761,1955,3060,4095,22.2,-18.0,26,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1955,3060,3060,4094,0,0,0,0,0,0,26.49,26.51,26.51,10.52,52.52
$GC,238,-1.80,-487.5,1762,1955,3061,4094,29.7,-17.9,32,245,0.00,1.12,0.00,0.000,516,0.000,0.051,1762,1515,3061,3061,4095,0,0,0,0,0,0,26.51,26.03,26.53,10.49,52.20
$GC,334,-1.80,-487.5,1762,1515,3064,4095,42.9,-13.8,47,341,0.00,1.02,0.00,0.000,1030,0.000,0.027,1762,1950,3064,3064,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.42,50.59
$GC,376,-1.80,-487.5,1761,1950,3065,4095,49.0,-14.7,53,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1951,3065,3065,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.42,49.48
$STATE,412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,412,begin apogee
$GC,425,-0.45,0.0,1762,2143,3066,4094,55.1,-15.0,59,461,4.57,0.00,28.27,1.242,10244,0.054,0.000,2185,2144,2484,2484,4094,0,0,0,0,0,0,26.12,25.30,24.15,10.40,48.77
$STATE,462,end apogee,CONTROL_FINISHED_OK
$STATE,462,begin climb
$GC,468,1.80,487.5,2185,2144,2484,4094,58.5,0.0,65,509,7.62,0.00,27.95,1.217,11270,0.031,0.000,2902,2144,1915,1915,4094,0,0,0,0,0,0,25.67,25.86,23.80,10.28,49.01
$GC,545,1.80,487.5,2901,2143,1914,4094,52.6,11.4,77,552,0.00,1.20,0.00,0.000,516,0.000,0.045,2902,1702,1914,1914,4094,0,0,0,0,0,0,25.66,25.29,25.67,10.15,46.65
$GC,677,1.80,487.5,2901,1701,1910,4094,35.3,13.1,98,684,0.00,1.05,0.00,0.000,1030,0.000,0.030,2902,2127,1910,1910,4094,0,0,0,0,0,0,25.82,25.78,25.84,10.13,47.55
$GC,720,1.80,487.5,2901,2127,1909,4094,29.6,13.5,104,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2127,1909,1909,4094,0,0,0,0,0,0,26.19,26.20,26.20,10.12,47.87
$GC,761,1.81,491.0,2901,2127,1908,4094,24.7,10.7,110,768,0.00,1.12,0.00,0.000,516,0.000,0.047,2901,1705,1908,1908,4094,0,0,0,0,0,0,26.25,25.80,26.27,10.16,49.01
$GC,875,1.86,526.4,2901,1705,1905,4094,13.5,10.3,128,884,0.10,1.02,3.53,0.374,11270,0.050,0.030,2921,2127,1869,1869,4095,0,0,0,0,0,0,25.99,26.03,24.37,10.21,53.07
$GC,919,1.86,526.4,2920,2126,1868,4095,8.4,12.4,134,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2127,1868,1868,4094,0,0,0,0,0,0,26.39,26.41,26.40,10.22,53.15
$GC,960,1.86,526.4,2920,2126,1866,4094,3.0,12.5,140,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2127,1866,1866,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.22,53.74
$STATE,971,end climb,FINISH_DEPTH_REACHED
$STATE,971,begin subsurface finish
$FINISH1,0.9,1.024093,105
$GC,985,0.16,105.0,2921,2128,1866,4094,0.9,13.4,142,998,5.50,0.00,-4.55,0.000,20486,0.031,0.000,2391,2129,2369,2369,4094,0,0,0,0,0,0,26.14,24.42,26.19,10.23,53.50
$FINISH2,0.1
$STATE,999,end subsurface finish,CONTROL_FINISHED_OK
$STATE,999,begin surface
$IRIDIUM_FIX,5953.06,-17035.79,050917,221501
$TT8_MAMPS,0.025466,0.104111
$HUMID,54.17
$INTERNAL_PRESSURE,10.2774
$TCM_TEMP,4.50
$XPDR_PINGS,0
$24V_AH,23.80,68.751
$10V_AH,10.34,62.488
$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,24.275,8.550,59.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,380.524,226.151,130.091,210.121,116.426,0.000,288.664,0.000,218.792,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,51.255,1242.360,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,96.326,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10869,144
$CAP_FILE_SIZE,24895,0
$CFSIZE,1024409600,904216576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050917,222236,5956.359,-17219.621,5,0.8,22,7.7,0.8,296.1,11,5.0