version: 66.13
glider: 401
mission: 22
dive: 2224
start: 9 3 117 22 30 57
data:
$ID,401
$MISSION,22
$DIVE,2224
$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,35
$R_STBD_OVSHOOT,47
$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
$GPS1,030917,222014,6005.5015,-17247.9023,8,0.9,18,7.5,0.4,256.8,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-38.1
$GPS2,030917,223019,6005.5425,-17248.2188,10,0.8,19,7.5,0.9,281.3,11,4.9
$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,113.8,41539,-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,-487.5,239,1981,1901,4092,0.0,0.0,0,21,8.57,0.00,0.00,0.000,2049,0.094,0.000,960,1975,1901,1901,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.30,51.06
$GC,28,-1.78,-487.5,960,1981,1901,4094,0.7,0.0,1,55,8.52,1.27,-10.52,0.000,18948,0.038,1.239,1763,1532,3053,3053,4095,0,0,0,0,0,0,25.93,24.07,26.01,10.31,50.98
$GC,203,-1.78,-487.5,1762,1532,3058,4095,22.5,-18.0,25,212,0.00,0.95,0.00,0.000,1030,0.000,0.027,1763,1940,3058,3058,4094,0,0,0,0,0,0,26.10,26.07,26.12,10.56,50.66
$GC,252,-1.78,-487.5,1762,1940,3059,4094,30.8,-16.5,31,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1940,3060,3060,4094,0,0,0,0,0,0,26.42,26.44,26.43,10.54,50.27
$GC,300,-1.78,-487.5,1762,1940,3061,4094,38.3,-15.5,37,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1939,3061,3061,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.52,49.64
$GC,348,-1.78,-487.5,1762,1940,3062,4094,46.0,-15.9,43,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1940,3062,3062,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.51,49.52
$GC,396,-1.78,-487.5,1762,1941,3063,4094,53.1,-14.5,49,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1941,3064,3064,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.49,48.81
$GC,444,-1.78,-487.5,1762,1946,3065,4094,60.0,-14.7,55,453,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3065,3065,4094,0,0,0,0,0,0,26.55,26.55,26.55,10.47,47.87
$STATE,462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,462,begin apogee
$GC,474,-0.45,0.0,1763,2156,3065,4095,60.3,-5.9,57,510,4.40,0.00,28.27,1.265,10244,0.033,0.000,2187,2158,2484,2484,4094,0,0,0,0,0,0,26.18,25.29,24.17,10.47,47.99
$STATE,511,end apogee,CONTROL_FINISHED_OK
$STATE,511,begin climb
$GC,517,1.78,487.5,2187,2159,2484,4094,60.2,0.0,61,561,7.40,0.00,27.95,1.228,11270,0.024,0.000,2893,2157,1917,1917,4094,0,0,0,0,0,0,25.64,25.81,23.83,10.34,46.92
$GC,602,1.78,487.5,2892,2156,1915,4094,54.1,11.8,71,612,0.00,1.15,0.00,0.000,516,0.000,0.044,2893,1722,1915,1915,4094,0,0,0,0,0,0,25.69,25.32,25.70,10.21,45.62
$GC,871,1.78,487.5,2892,1722,1908,4094,21.1,11.9,110,880,0.00,0.93,0.00,0.000,1030,0.000,0.028,2893,2107,1908,1908,4094,0,0,0,0,0,0,26.03,26.00,26.07,10.24,48.93
$GC,920,1.78,487.5,2892,2107,1907,4094,15.7,11.2,116,929,0.00,1.02,0.00,0.000,516,0.000,0.044,2893,1716,1906,1906,4094,0,0,0,0,0,0,26.36,25.92,26.38,10.26,50.35
$STATE,1043,end climb,FINISH_DEPTH_REACHED
$STATE,1043,begin subsurface finish
$FINISH1,1.9,1.024091,105
$GC,1058,0.16,105.1,2893,2149,1903,4094,1.9,10.7,134,1076,5.10,0.00,-4.10,0.000,20486,0.023,0.000,2394,2158,2366,2366,4094,0,0,0,0,0,0,26.13,25.48,26.20,10.28,51.22
$FINISH2,0.1
$STATE,1077,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1078,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,211154
$TT8_MAMPS,0.024717,0.268891
$HUMID,51.57
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,23.83,65.216
$10V_AH,10.07,59.764
$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,34.000,6.850,56.225,0.000,0.000,22.420,18.809,276.426,0.000,0.000,21.204,379.316,0.000,100.123,850.320,357.808,0.000,309.826,0.000,333.938,0.000,0.543,0.000
$DEVICE_MAMPS,94.095,1238.535,1264.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,92.690,369.509,292.365,433.520,567.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329288
$DATA_FILE_SIZE,14366,136
$CAP_FILE_SIZE,25174,0
$CFSIZE,1024409600,910196736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030917,223019,6005.542,-17248.219,10,0.8,19,7.5,0.9,281.3,11,4.9