version: 66.13
glider: 401
mission: 22
dive: 2195
start: 9 3 117 9 18 42
data:
$ID,401
$MISSION,22
$DIVE,2195
$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,27
$R_STBD_OVSHOOT,23
$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
$GPS1,030917,085829,6006.4575,-17249.4824,7,0.9,16,7.5,0.4,282.8,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-1.7
$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,-585.0,2402,1942,2367,4092,0.0,0.0,0,30,6.53,0.00,-7.50,0.000,20486,0.021,0.000,1762,1942,3171,3171,4094,0,0,0,0,0,0,26.13,24.34,26.15,10.38,50.63
$GC,36,-1.82,-585.0,1762,1942,3171,4094,0.0,-0.4,3,42,0.00,1.08,0.00,0.000,516,0.000,0.052,1762,1521,3171,3171,4095,0,0,0,0,0,0,26.36,25.94,26.37,10.56,51.85
$GC,167,-1.82,-585.0,1761,1521,3175,4095,18.5,-17.9,24,174,0.00,1.02,0.00,0.000,1030,0.000,0.026,1762,1953,3175,3175,4095,0,0,0,0,0,0,26.22,26.17,26.22,10.57,50.94
$GC,209,-1.82,-585.0,1761,1953,3176,4095,26.1,-18.3,30,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1953,3177,3177,4095,0,0,0,0,0,0,26.51,26.51,26.51,10.56,50.98
$GC,250,-1.82,-585.0,1761,1953,3178,4095,32.8,-16.4,36,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,1954,3178,3178,4094,0,0,0,0,0,0,26.53,26.54,26.53,10.54,50.86
$GC,291,-1.82,-585.0,1761,1953,3179,4094,39.0,-14.9,42,297,0.00,1.10,0.00,0.000,260,0.000,0.045,1762,2376,3179,3179,4094,0,0,0,0,0,0,26.55,26.07,26.55,10.52,50.94
$GC,356,-1.82,-585.0,1761,2376,3180,4094,48.9,-15.2,52,363,0.00,1.05,0.00,0.000,1030,0.000,0.028,1762,1954,3181,3181,4095,0,0,0,0,0,0,26.26,26.25,26.29,10.50,49.52
$GC,398,-1.82,-585.0,1761,1954,3182,4095,54.6,-13.8,58,405,0.00,1.10,0.00,0.000,516,0.000,0.049,1762,1519,3182,3182,4095,0,0,0,0,0,0,26.59,26.10,26.60,10.49,49.17
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,434,begin apogee
$GC,448,-0.45,0.0,1761,2143,3183,4095,60.8,-15.2,64,489,4.38,0.00,33.45,1.280,10244,0.027,0.000,2191,2145,2484,2484,4094,0,0,0,0,0,0,26.28,25.21,24.12,10.48,48.85
$STATE,490,end apogee,CONTROL_FINISHED_OK
$STATE,490,begin climb
$GC,496,1.82,585.0,2191,2145,2484,4094,61.2,0.0,71,543,7.57,0.00,33.30,1.244,11270,0.028,0.000,2904,2145,1801,1801,4094,0,0,0,0,0,0,25.56,25.72,23.70,10.34,48.66
$GC,578,1.82,585.0,2903,2145,1800,4094,55.1,10.9,84,585,0.00,1.17,0.00,0.000,516,0.000,0.044,2904,1709,1801,1801,4094,0,0,0,0,0,0,25.53,25.19,25.54,10.18,46.92
$GC,722,1.82,585.0,2903,1709,1796,4094,36.1,13.8,107,729,0.00,1.02,0.00,0.000,1030,0.000,0.028,2904,2127,1796,1796,4094,0,0,0,0,0,0,25.78,25.75,25.80,10.18,47.99
$GC,764,1.82,585.0,2904,2126,1795,4094,30.1,14.7,113,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2127,1794,1794,4094,0,0,0,0,0,0,26.15,26.16,26.15,10.18,48.93
$GC,805,1.82,585.0,2903,2126,1793,4094,24.6,13.6,119,811,0.00,1.17,0.00,0.000,260,0.000,0.052,2904,2564,1793,1793,4094,0,0,0,0,0,0,26.21,25.75,26.22,10.20,49.52
$GC,876,1.82,585.0,2903,2564,1791,4094,15.7,12.2,130,883,0.00,1.08,0.00,0.000,1030,0.000,0.025,2904,2125,1790,1790,4094,0,0,0,0,0,0,26.03,26.01,26.06,10.22,50.55
$GC,918,1.82,585.0,2904,2124,1789,4094,11.0,11.6,136,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1789,1789,4094,0,0,0,0,0,0,26.34,26.36,26.36,10.23,51.37
$GC,959,1.82,585.0,2903,2125,1788,4094,6.3,11.7,142,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2125,1788,1788,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.23,51.92
$STATE,994,end climb,FINISH_DEPTH_REACHED
$STATE,994,begin subsurface finish
$FINISH1,1.7,1.024111,104
$GC,1007,0.16,103.7,2904,2123,1787,4095,1.7,11.3,148,1021,5.25,0.00,-5.18,0.000,20486,0.022,0.000,2390,2124,2369,2369,4094,0,0,0,0,0,0,26.13,24.42,26.18,10.24,51.73
$FINISH2,0.0
$STATE,1022,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1022,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,073101
$TT8_MAMPS,0.025466,0.104111
$HUMID,52.28
$INTERNAL_PRESSURE,10.2969
$TCM_TEMP,5.80
$XPDR_PINGS,0
$24V_AH,23.70,64.354
$10V_AH,10.36,58.982
$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,23.725,11.800,66.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,386.402,237.741,137.089,218.807,105.061,0.000,299.404,0.000,227.208,0.000,0.543,0.000
$DEVICE_MAMPS,27.540,52.020,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,10770,150
$CAP_FILE_SIZE,24255,0
$CFSIZE,1024409600,911622144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030917,085829,6006.458,-17249.482,7,0.9,16,7.5,0.4,282.8,10,5.0