version: 66.13
glider: 401
mission: 22
dive: 2227
start: 9 3 117 23 44 34
data:
$ID,401
$MISSION,22
$DIVE,2227
$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,23
$R_STBD_OVSHOOT,29
$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
$GPS1,030917,233126,6005.6182,-17248.6602,7,1.0,35,7.5,0.5,314.9,9,4.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-42.0
$GPS2,030917,234352,6005.6997,-17248.9688,7,0.8,15,7.5,0.6,316.4,11,5.0
$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,113.7,42285,-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,-487.5,231,1948,1899,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,2049,0.096,0.000,699,1948,1900,1900,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.31,50.47
$GC,25,-1.78,-487.5,699,1948,1900,4094,0.8,0.0,1,56,11.40,1.17,-10.55,0.000,18948,0.044,1.236,1764,1523,3057,3057,4095,0,0,0,0,0,0,25.91,23.96,25.99,10.31,50.55
$GC,268,-1.78,-487.5,1764,1523,3063,4095,32.5,-16.4,40,274,0.00,1.00,0.00,0.000,1030,0.000,0.025,1764,1952,3064,3064,4095,0,0,0,0,0,0,26.16,26.13,26.18,10.53,49.96
$GC,310,-1.78,-487.5,1763,1951,3064,4095,39.0,-15.3,46,315,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3065,3065,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.52,50.27
$GC,350,-1.78,-487.5,1764,1951,3066,4094,45.3,-15.3,52,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3066,3066,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.51,49.40
$GC,391,-1.78,-487.5,1764,1952,3067,4095,51.5,-15.4,58,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3067,3067,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.50,49.01
$GC,432,-1.78,-487.5,1764,1952,3068,4095,56.9,-13.6,64,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1952,3068,3068,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.48,48.70
$STATE,449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,449,begin apogee
$GC,462,-0.45,0.0,1764,2162,3068,4095,60.2,-14.0,67,498,4.35,0.00,28.25,1.253,10244,0.031,0.000,2190,2166,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.18,10.47,48.11
$STATE,499,end apogee,CONTROL_FINISHED_OK
$STATE,499,begin climb
$GC,505,1.78,487.5,2190,2166,2484,4094,60.9,0.0,73,547,7.35,1.17,27.90,1.226,10756,0.029,0.040,2894,1708,1916,1916,4094,0,0,0,0,0,0,25.56,25.51,23.82,10.34,48.03
$GC,783,1.78,487.5,2894,1708,1909,4094,30.6,12.2,118,790,0.00,1.00,0.00,0.000,1030,0.000,0.028,2894,2120,1909,1909,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.22,48.34
$GC,825,1.78,487.5,2894,2119,1908,4094,25.5,12.8,124,832,0.00,1.08,0.00,0.000,516,0.000,0.044,2894,1709,1908,1908,4094,0,0,0,0,0,0,26.28,25.84,26.29,10.23,49.01
$GC,1010,1.87,547.0,2894,1708,1903,4094,7.3,9.6,153,1024,0.20,1.00,4.45,0.425,11270,0.043,0.028,2923,2127,1844,1844,4094,0,0,0,0,0,0,26.09,26.15,24.65,10.27,51.69
$STATE,1048,end climb,FINISH_DEPTH_REACHED
$STATE,1048,begin subsurface finish
$FINISH1,2.0,1.024121,103
$GC,1061,0.15,103.1,2922,2127,1843,4094,2.0,11.1,159,1074,5.43,0.00,-4.38,0.000,20486,0.023,0.000,2388,2132,2369,2369,4094,0,0,0,0,0,0,26.19,24.44,26.22,10.26,52.28
$FINISH2,0.3
$STATE,1075,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1076,begin surface
$IRIDIUM_FIX,5953.71,-17808.45,030917,233556
$TT8_MAMPS,0.026215,0.161784
$HUMID,52.12
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.82,65.300
$10V_AH,10.22,59.824
$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,34.300,6.875,60.600,0.000,0.000,51.141,52.182,307.115,0.000,0.000,16.493,416.232,322.419,123.793,596.411,370.076,0.000,287.882,0.000,244.535,0.000,0.543,0.000
$DEVICE_MAMPS,95.625,1236.240,1253.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,107.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329360
$DATA_FILE_SIZE,10897,161
$CAP_FILE_SIZE,26736,0
$CFSIZE,1024409600,910049280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,234352,6005.700,-17248.969,7,0.8,15,7.5,0.6,316.4,11,5.0