version: 66.13
glider: 401
mission: 22
dive: 2222
start: 9 3 117 21 39 20
data:
$ID,401
$MISSION,22
$DIVE,2222
$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,19
$R_STBD_OVSHOOT,28
$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
$GPS1,030917,211813,6005.5703,-17246.8359,10,0.9,21,7.5,0.8,293.5,9,4.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-3.6
$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,5,begin dive
$GC,11,-1.78,-487.5,2334,1933,2490,4092,0.0,0.0,0,22,5.60,0.00,-2.75,0.000,20482,0.026,0.000,1788,1938,2784,2784,4094,0,0,0,0,0,0,26.13,28.83,26.20,10.40,52.16
$GC,28,-1.78,-487.5,1787,1938,2784,4094,0.2,0.0,1,38,0.00,1.17,-2.55,0.000,16900,0.000,1.243,1787,1521,3055,3055,4094,0,0,0,0,0,0,26.46,24.24,26.44,10.47,51.92
$GC,176,-1.78,-487.5,1786,1520,3059,4094,18.6,-17.4,22,185,0.00,1.00,0.00,0.000,1030,0.000,0.025,1787,1952,3059,3059,4095,0,0,0,0,0,0,26.19,26.16,26.20,10.54,52.20
$GC,226,-1.78,-487.5,1787,1951,3060,4095,27.1,-17.3,28,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1951,3061,3061,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.53,51.57
$GC,276,-1.78,-487.5,1787,1952,3062,4094,34.5,-14.5,34,284,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1952,3062,3062,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.51,51.96
$GC,325,-1.78,-487.5,1786,1951,3063,4095,41.7,-14.5,40,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1952,3063,3063,4095,0,0,0,0,0,0,26.55,26.56,26.55,10.50,50.51
$GC,374,-1.78,-487.5,1787,1952,3064,4095,48.5,-13.9,46,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1952,3064,3064,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.48,50.63
$GC,423,-1.78,-487.5,1787,1954,3065,4095,55.5,-14.0,52,432,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,1954,3066,3066,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.47,49.37
$STATE,459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,459,begin apogee
$GC,472,-0.45,0.0,1787,2138,3067,4094,60.5,-11.0,57,508,4.10,0.00,28.25,1.255,10244,0.027,0.000,2190,2145,2484,2484,4094,0,0,0,0,0,0,26.29,25.34,24.24,10.45,49.44
$STATE,509,end apogee,CONTROL_FINISHED_OK
$STATE,509,begin climb
$GC,515,1.78,487.5,2189,2145,2484,4094,60.4,0.0,61,559,7.53,1.15,27.90,1.229,10756,0.029,0.043,2908,1700,1916,1916,4094,0,0,0,0,0,0,25.60,25.54,23.86,10.33,48.07
$GC,820,1.78,487.5,2907,1700,1908,4094,26.2,12.7,104,830,0.00,1.05,0.00,0.000,1030,0.000,0.029,2908,2132,1908,1908,4094,0,0,0,0,0,0,25.96,25.89,25.98,10.21,49.17
$GC,871,1.78,487.5,2907,2132,1907,4094,20.2,11.6,110,881,0.00,1.12,0.00,0.000,516,0.000,0.046,2908,1706,1907,1907,4094,0,0,0,0,0,0,26.32,25.86,26.33,10.24,49.84
$STATE,1025,end climb,FINISH_DEPTH_REACHED
$STATE,1026,begin subsurface finish
$FINISH1,1.7,1.024094,105
$GC,1045,0.16,105.0,2908,2142,1902,4094,1.7,12.0,133,1063,5.22,0.00,-4.10,0.000,20486,0.021,0.000,2389,2150,2364,2364,4095,0,0,0,0,0,0,26.17,25.48,26.22,10.26,51.81
$FINISH2,0.0
$STATE,1064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1064,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,195301
$TT8_MAMPS,0.025466,0.246421
$HUMID,51.73
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.86,65.157
$10V_AH,10.08,59.715
$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,22.450,8.650,56.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.971,0.420,88.797,561.913,98.029,0.000,278.339,0.000,329.836,0.000,0.542,0.000
$DEVICE_MAMPS,29.070,1243.125,1254.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.321,366.845,290.208,430.330,561.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330696
$DATA_FILE_SIZE,14356,135
$CAP_FILE_SIZE,19903,0
$CFSIZE,1024409600,910295040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,211813,6005.570,-17246.836,10,0.9,21,7.5,0.8,293.5,9,4.0