version: 66.13
glider: 401
mission: 22
dive: 2230
start: 9 4 117 0 57 4
data:
$ID,401
$MISSION,22
$DIVE,2230
$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,28
$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
$GPS1,040917,004554,6005.8936,-17249.0430,9,0.8,18,7.5,0.4,305.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-39.9
$GPS2,040917,005626,6005.9771,-17249.2090,6,0.9,52,7.5,0.0,264.2,9,4.9
$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,114.1,42743,-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,-487.5,238,1953,1901,4092,0.0,0.0,0,20,7.53,0.00,0.00,0.000,2049,0.099,0.000,867,1951,1901,1901,4094,0,0,0,0,0,0,26.36,28.83,28.83,10.31,51.49
$GC,26,-1.78,-487.5,866,1952,1901,4094,0.9,0.0,1,54,9.52,1.17,-10.60,0.000,18948,0.042,1.239,1758,1526,3056,3056,4095,0,0,0,0,0,0,25.93,24.10,25.97,10.31,51.45
$GC,229,-1.78,-487.5,1758,1526,3061,4095,25.0,-17.1,29,238,0.00,1.00,0.00,0.000,1030,0.000,0.025,1759,1953,3061,3061,4094,0,0,0,0,0,0,26.16,26.11,26.18,10.55,50.39
$GC,279,-1.78,-487.5,1758,1953,3062,4094,32.2,-14.7,35,288,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3062,3062,4095,0,0,0,0,0,0,26.48,26.50,26.49,10.53,50.94
$GC,329,-1.78,-487.5,1759,1954,3063,4095,39.8,-15.6,41,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3064,3064,4094,0,0,0,0,0,0,26.51,26.53,26.53,10.52,49.56
$GC,377,-1.78,-487.5,1758,1954,3065,4094,47.6,-16.5,47,386,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,1954,3065,3065,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.51,50.00
$GC,427,-1.78,-487.5,1758,1954,3066,4095,54.8,-13.8,53,436,0.00,1.10,0.00,0.000,260,0.000,0.045,1759,2377,3066,3066,4095,0,0,0,0,0,0,26.57,26.08,26.58,10.49,48.70
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,477,-0.45,0.0,1759,2123,3067,4094,60.5,-13.0,58,513,4.40,0.00,28.30,1.255,10244,0.031,0.000,2189,2115,2484,2484,4095,0,0,0,0,0,0,26.22,25.32,24.21,10.47,48.22
$STATE,514,end apogee,CONTROL_FINISHED_OK
$STATE,514,begin climb
$GC,520,1.78,487.5,2189,2115,2484,4095,60.5,0.0,62,565,7.30,1.00,28.00,1.227,10756,0.027,0.042,2897,1726,1914,1914,4094,0,0,0,0,0,0,25.58,25.53,23.84,10.35,47.08
$GC,598,1.83,519.9,2896,1726,1913,4094,55.6,10.0,71,608,0.00,1.02,3.58,0.571,9222,0.000,0.028,2896,2139,1878,1878,4094,0,0,0,0,0,0,25.42,25.39,23.84,10.21,45.58
$GC,649,1.83,519.9,2896,2139,1876,4094,49.6,12.1,77,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2139,1876,1876,4094,0,0,0,0,0,0,25.86,25.88,25.87,10.20,45.82
$GC,699,1.83,519.9,2896,2138,1875,4094,43.5,12.5,83,707,0.00,1.15,0.00,0.000,260,0.000,0.050,2897,2564,1875,1875,4094,0,0,0,0,0,0,26.02,25.58,26.03,10.21,47.08
$GC,748,1.83,519.9,2896,2564,1874,4094,37.4,12.5,89,758,0.00,1.00,0.00,0.000,1030,0.000,0.025,2897,2154,1874,1874,4094,0,0,0,0,0,0,25.87,25.85,25.89,10.22,47.75
$GC,799,1.83,519.9,2896,2154,1872,4094,31.2,11.8,95,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2154,1872,1872,4094,0,0,0,0,0,0,26.22,26.23,26.23,10.22,47.91
$GC,848,1.83,519.9,2896,2154,1871,4094,25.4,11.9,101,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2154,1871,1871,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.22,48.81
$GC,898,1.83,519.9,2896,2154,1870,4094,19.4,10.7,107,907,0.00,1.10,0.00,0.000,516,0.000,0.045,2897,1725,1869,1869,4094,0,0,0,0,0,0,26.34,25.89,26.36,10.24,49.09
$STATE,1070,end climb,FINISH_DEPTH_REACHED
$STATE,1070,begin subsurface finish
$FINISH1,1.9,1.024114,104
$GC,1085,0.16,103.6,2896,2149,1865,4094,1.9,10.9,132,1103,5.10,0.00,-4.47,0.000,20486,0.021,0.000,2389,2143,2368,2368,4094,0,0,0,0,0,0,26.22,25.51,26.26,10.27,51.29
$FINISH2,0.2
$STATE,1104,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1105,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,233737
$TT8_MAMPS,0.025466,0.253911
$HUMID,52.04
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,23.84,65.380
$10V_AH,10.07,59.905
$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,33.850,10.225,59.875,0.000,0.000,25.820,22.336,266.944,0.000,0.000,53.933,388.625,0.000,111.057,867.141,373.833,0.000,332.955,0.000,329.628,0.000,0.543,0.000
$DEVICE_MAMPS,98.685,1239.300,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,90.882,364.102,288.078,427.144,557.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329340
$DATA_FILE_SIZE,14398,134
$CAP_FILE_SIZE,27841,0
$CFSIZE,1024409600,909901824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040917,005626,6005.977,-17249.209,6,0.9,52,7.5,0.0,264.2,9,4.9