version: 66.13
glider: 401
mission: 22
dive: 2194
start: 9 3 117 8 59 8
data:
$ID,401
$MISSION,22
$DIVE,2194
$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,600
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,030917,084748,6006.4829,-17249.3926,8,0.8,13,7.5,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-36.6
$GPS2,030917,085829,6006.4575,-17249.4824,7,0.9,16,7.5,0.4,282.8,10,5.0
$SPEED_LIMITS,0.226,0.425
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,108.0,85219,-10.3,-10.526,-13.92,8308
$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,-1.82,-585.0,239,1952,1787,4092,0.0,0.0,0,22,8.43,0.00,0.00,0.000,2049,0.089,0.000,953,1953,1787,1787,4094,0,0,0,0,0,0,26.27,28.83,28.83,10.28,51.18
$GC,28,-1.82,-585.0,952,1952,1787,4094,0.7,0.0,1,55,8.52,1.20,-12.77,0.000,18948,0.043,1.238,1748,1523,3171,3171,4095,0,0,0,0,0,0,25.95,23.99,25.96,10.28,51.10
$GC,177,-1.82,-585.0,1748,1523,3176,4095,19.3,-19.0,21,186,0.00,1.02,0.00,0.000,1030,0.000,0.027,1748,1954,3176,3176,4094,0,0,0,0,0,0,26.08,26.04,26.10,10.58,51.49
$GC,226,-1.82,-585.0,1748,1954,3177,4094,29.2,-17.6,27,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,1954,3177,3177,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.58,50.19
$GC,274,-1.82,-585.0,1748,1954,3179,4095,37.0,-16.4,33,282,0.00,1.10,0.00,0.000,260,0.000,0.044,1748,2373,3179,3179,4094,0,0,0,0,0,0,26.44,25.96,26.45,10.55,50.11
$GC,354,-1.82,-585.0,1748,2373,3181,4094,49.2,-14.3,44,364,0.00,1.02,0.00,0.000,1030,0.000,0.027,1749,1965,3181,3181,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.53,48.89
$GC,403,-1.82,-585.0,1748,1964,3182,4095,56.4,-14.5,50,413,0.00,1.15,0.00,0.000,516,0.000,0.050,1749,1511,3184,3184,4094,0,0,0,0,0,0,26.53,26.01,26.53,10.51,48.54
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,441,-0.45,0.0,1748,2149,3183,4095,60.6,-14.6,53,485,4.53,0.00,33.62,1.277,10244,0.031,0.000,2189,2149,2484,2484,4094,0,0,0,0,0,0,26.18,25.15,24.05,10.50,47.63
$STATE,486,end apogee,CONTROL_FINISHED_OK
$STATE,486,begin climb
$GC,491,1.82,585.0,2189,2149,2484,4094,60.7,0.0,58,535,7.60,0.00,33.38,1.244,11270,0.029,0.000,2904,2149,1802,1802,4094,0,0,0,0,0,0,25.52,25.69,23.69,10.35,47.08
$GC,577,1.82,585.0,2903,2149,1801,4094,54.7,11.5,68,586,0.00,1.20,0.00,0.000,516,0.000,0.043,2904,1705,1801,1801,4094,0,0,0,0,0,0,25.53,25.18,25.53,10.19,45.86
$GC,710,1.82,585.0,2903,1705,1797,4094,36.8,13.5,87,719,0.00,1.00,0.00,0.000,1030,0.000,0.028,2904,2113,1796,1796,4094,0,0,0,0,0,0,25.75,25.72,25.79,10.19,46.77
$GC,759,1.82,585.0,2903,2113,1796,4094,30.3,14.0,93,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1795,1795,4094,0,0,0,0,0,0,26.13,26.15,26.14,10.19,47.28
$GC,807,1.82,585.0,2903,2113,1794,4094,24.0,12.7,99,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1794,1794,4095,0,0,0,0,0,0,26.21,26.22,26.22,10.21,47.95
$GC,855,1.82,585.0,2904,2113,1792,4095,18.6,10.9,105,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1792,1792,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.23,49.05
$GC,903,1.82,585.0,2903,2113,1790,4094,13.0,11.7,111,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1790,1790,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.24,50.15
$GC,950,1.82,585.0,2903,2113,1789,4094,7.7,10.9,117,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1789,1789,4094,0,0,0,0,0,0,26.37,26.39,26.39,10.24,50.35
$GC,998,1.82,585.0,2903,2113,1787,4094,2.1,11.8,123,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2113,1787,1787,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.25,51.06
$STATE,1015,end climb,FINISH_DEPTH_REACHED
$STATE,1015,begin subsurface finish
$FINISH1,0.2,1.024116,103
$GC,1028,0.16,103.4,2904,2121,1787,4094,0.2,9.9,125,1046,5.10,0.00,-5.20,0.000,20486,0.022,0.000,2403,2121,2367,2367,4094,0,0,0,0,0,0,26.15,25.46,26.20,10.26,50.47
$FINISH2,0.0
$STATE,1047,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1047,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,073101
$TT8_MAMPS,0.025466,0.265146
$HUMID,50.70
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,23.69,64.330
$10V_AH,10.06,58.972
$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,34.175,9.250,67.000,0.000,0.000,26.104,22.242,304.187,0.000,0.000,17.262,356.701,0.000,119.571,837.570,379.393,0.000,346.063,0.000,312.194,0.000,0.546,0.000
$DEVICE_MAMPS,88.740,1237.770,1276.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,85.773,345.076,272.997,404.497,528.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329296
$DATA_FILE_SIZE,10851,127
$CAP_FILE_SIZE,27835,0
$CFSIZE,1024409600,911671296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,085829,6006.458,-17249.482,7,0.9,16,7.5,0.4,282.8,10,5.0