version: 66.13
glider: 401
mission: 22
dive: 2221
start: 9 3 117 21 18 51
data:
$ID,401
$MISSION,22
$DIVE,2221
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,12
$R_STBD_OVSHOOT,64
$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
$GPS1,030917,210728,6005.5415,-17246.5195,36,0.8,39,7.5,0.9,250.9,10,4.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-34.5
$GPS2,030917,211813,6005.5703,-17246.8359,10,0.9,21,7.5,0.8,293.5,9,4.0
$SPEED_LIMITS,0.226,0.395
$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,114.8,40474,-11.5,-10.526,-14.94,6951
$D_GRID,60
$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,-1.78,-487.5,230,1969,1903,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.093,0.000,705,1969,1903,1903,4094,0,0,0,0,0,0,26.29,28.83,28.83,10.30,50.74
$GC,25,-1.78,-487.5,705,1968,1904,4094,0.8,0.0,1,56,11.43,1.27,-10.62,0.000,18948,0.046,1.239,1764,1512,3056,3056,4095,0,0,0,0,0,0,25.83,23.93,25.93,10.30,51.29
$GC,202,-1.78,-487.5,1763,1512,3060,4095,22.5,-18.0,29,209,0.00,0.95,0.00,0.000,1030,0.000,0.027,1764,1920,3060,3060,4095,0,0,0,0,0,0,26.08,26.06,26.10,10.55,50.11
$GC,244,-1.78,-487.5,1763,1920,3062,4095,29.8,-17.2,35,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1920,3062,3062,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.54,50.03
$GC,285,-1.78,-487.5,1763,1919,3062,4094,35.9,-14.3,41,291,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1919,3063,3063,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.53,49.76
$GC,326,-1.78,-487.5,1763,1920,3064,4095,42.2,-15.4,47,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1920,3064,3064,4095,0,0,0,0,0,0,26.46,26.47,26.47,10.51,49.52
$GC,367,-1.78,-487.5,1763,1920,3065,4095,48.5,-14.9,53,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1920,3065,3065,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.50,49.21
$GC,407,-1.78,-487.5,1763,1923,3066,4095,54.4,-14.0,59,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1923,3066,3066,4095,0,0,0,0,0,0,26.51,26.53,26.52,10.48,48.70
$STATE,443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,443,begin apogee
$GC,456,-0.45,0.0,1763,2177,3067,4094,60.3,-14.3,65,492,4.35,0.12,28.33,1.270,10244,0.029,0.070,2190,2089,2484,2484,4094,0,0,0,0,0,0,26.17,25.27,24.15,10.47,47.99
$STATE,493,end apogee,CONTROL_FINISHED_OK
$STATE,494,begin climb
$GC,499,1.78,487.5,2190,2089,2484,4094,60.2,0.0,71,542,7.40,1.00,28.05,1.242,10756,0.033,0.044,2892,1695,1915,1915,4095,0,0,0,0,0,0,25.53,25.47,23.79,10.34,47.20
$GC,778,1.78,487.5,2891,1695,1909,4095,33.5,12.1,116,784,0.00,0.95,0.00,0.000,1030,0.000,0.028,2892,2090,1909,1909,4094,0,0,0,0,0,0,25.91,25.89,25.94,10.22,47.99
$GC,819,1.78,487.5,2891,2090,1908,4094,28.2,12.8,122,826,0.00,1.02,0.00,0.000,516,0.000,0.046,2892,1701,1908,1908,4094,0,0,0,0,0,0,26.26,25.81,26.27,10.23,48.46
$GC,1014,1.78,487.5,2891,1700,1902,4094,6.5,11.6,153,1020,0.00,1.05,0.00,0.000,1030,0.000,0.029,2892,2134,1902,1902,4094,0,0,0,0,0,0,26.13,26.08,26.15,10.27,51.96
$GC,1056,1.82,517.7,2891,2133,1901,4094,2.2,10.1,159,1063,0.10,0.00,2.88,0.233,10246,0.081,0.000,2907,2134,1879,1879,4094,0,0,0,0,0,0,26.24,25.44,24.52,10.28,52.67
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,0.0,1.015118,0
$GC,1083,0.00,0.0,2907,2141,1878,4095,0.0,11.4,161,1102,5.75,1.20,-5.47,0.000,20740,0.022,1.239,2335,2565,2490,2490,4095,0,0,0,0,0,0,26.24,24.13,26.27,10.27,51.85
$FINISH2,0.1
$STATE,1103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1104,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,195301
$TT8_MAMPS,0.025466,0.134071
$HUMID,52.12
$INTERNAL_PRESSURE,10.336
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,23.79,65.137
$10V_AH,10.28,59.685
$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,34.650,8.150,59.250,0.000,0.000,22.110,16.829,314.584,0.000,0.000,22.612,427.590,273.327,131.070,546.354,373.921,0.000,301.289,0.000,248.617,0.000,0.543,0.000
$DEVICE_MAMPS,92.565,1239.300,1269.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329304
$DATA_FILE_SIZE,10861,164
$CAP_FILE_SIZE,28300,0
$CFSIZE,1024409600,910344192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030917,211813,6005.570,-17246.836,10,0.9,21,7.5,0.8,293.5,9,4.0