version: 66.13
glider: 401
mission: 22
dive: 2226
start: 9 3 117 23 11 17
data:
$ID,401
$MISSION,22
$DIVE,2226
$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,21
$R_STBD_OVSHOOT,20
$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
$GPS1,030917,223019,6005.5425,-17248.2188,10,0.8,19,7.5,0.9,281.3,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-3.7
$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,-487.5,2390,1952,2368,4092,0.0,0.0,0,29,6.25,0.00,-6.32,0.000,20486,0.020,0.000,1773,1952,3057,3057,4095,0,0,0,0,0,0,26.21,24.34,26.27,10.38,52.28
$GC,35,-1.78,-487.5,1772,1952,3057,4095,0.0,-1.0,2,44,0.00,1.10,0.00,0.000,516,0.000,0.051,1773,1517,3057,3057,4094,0,0,0,0,0,0,26.43,25.99,26.44,10.52,52.63
$GC,194,-1.78,-487.5,1772,1517,3062,4094,26.7,-16.5,25,204,0.00,1.05,0.00,0.000,1030,0.000,0.025,1772,1968,3062,3062,4095,0,0,0,0,0,0,26.27,26.25,26.29,10.53,52.28
$GC,243,-1.78,-487.5,1772,1968,3063,4095,33.8,-14.4,31,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1968,3064,3064,4095,0,0,0,0,0,0,26.58,26.58,26.58,10.51,51.77
$GC,291,-1.78,-487.5,1772,1968,3065,4095,41.1,-15.4,37,300,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1969,3065,3065,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.50,51.29
$GC,339,-1.78,-487.5,1772,1968,3066,4095,48.1,-14.7,43,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,1968,3066,3066,4094,0,0,0,0,0,0,26.61,26.63,26.63,10.49,50.66
$GC,387,-1.78,-487.5,1772,1968,3067,4094,54.9,-13.8,49,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1969,3068,3068,4094,0,0,0,0,0,0,26.63,26.64,26.64,10.46,50.03
$STATE,423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,423,begin apogee
$GC,436,-0.45,0.0,1772,2149,3068,4095,60.3,-13.0,54,472,4.30,0.00,28.20,1.258,10244,0.038,0.000,2187,2149,2484,2484,4095,0,0,0,0,0,0,26.25,25.37,24.24,10.45,49.37
$STATE,473,end apogee,CONTROL_FINISHED_OK
$STATE,473,begin climb
$GC,478,1.78,487.5,2186,2149,2484,4095,61.0,0.0,58,522,7.45,0.00,27.92,1.230,11270,0.030,0.000,2891,2149,1915,1915,4094,0,0,0,0,0,0,25.67,25.89,23.86,10.33,48.81
$GC,563,1.78,487.5,2890,2149,1914,4094,54.7,11.6,68,573,0.00,1.20,0.00,0.000,516,0.000,0.044,2891,1704,1913,1913,4094,0,0,0,0,0,0,25.72,25.35,25.72,10.20,47.51
$GC,832,1.78,487.5,2890,1703,1906,4094,21.3,11.5,107,841,0.00,0.98,0.00,0.000,1030,0.000,0.028,2891,2108,1905,1905,4094,0,0,0,0,0,0,26.03,26.01,26.05,10.24,50.63
$GC,881,1.78,487.5,2890,2108,1905,4094,16.0,11.2,113,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2109,1905,1905,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.25,51.26
$GC,929,1.78,487.5,2890,2108,1903,4094,10.6,11.3,119,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2109,1903,1903,4094,0,0,0,0,0,0,26.42,26.43,26.43,10.26,51.77
$GC,977,1.78,487.5,2890,2108,1901,4094,5.3,11.3,125,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2108,1902,1902,4095,0,0,0,0,0,0,26.45,26.47,26.46,10.26,51.81
$STATE,1007,end climb,SURFACE_DEPTH_REACHED
$STATE,1007,begin surface coast
$FINISH,-0.0,1.001217
$STATE,1022,end surface coast,CONTROL_FINISHED_OK
$STATE,1022,begin surface
$SM_CCo,1129,0.00,0.000,0,0,1900,502.28
$SM_GC,0.95,27.58,0.43,0.00,0.018,0.057,0.000,231,1948,1900,-6.59,1.23,502.28,0,0,0,0,0,0,26.00,26.09,26.09
$IRIDIUM_FIX,5925.93,-17425.36,030917,211154
$TT8_MAMPS,0.025466,0.240429
$HUMID,51.10
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,5.40
$XPDR_PINGS,0
$24V_AH,23.86,65.257
$10V_AH,10.12,59.805
$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,45.575,5.650,56.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,363.334,60.258,117.669,545.832,111.617,0.000,312.586,0.000,320.357,0.000,0.543,0.000
$DEVICE_MAMPS,38.250,57.375,1257.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.410,355.980,281.631,417.534,545.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330680
$DATA_FILE_SIZE,14500,131
$CAP_FILE_SIZE,21889,0
$CFSIZE,1024409600,910098432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,233126,6005.618,-17248.660,7,1.0,35,7.5,0.5,314.9,9,4.8