version: 66.13
glider: 401
mission: 22
dive: 2200
start: 9 3 117 11 21 11
data:
$ID,401
$MISSION,22
$DIVE,2200
$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,38
$R_STBD_OVSHOOT,47
$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
$GPS1,030917,111043,6006.0635,-17248.3086,8,1.0,15,7.5,0.0,170.7,9,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-37.4
$GPS2,030917,112032,6006.0947,-17248.4277,7,0.9,21,7.5,0.0,298.4,10,5.0
$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,107.9,84043,-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,-585.0,231,1980,1696,4092,0.0,0.0,0,22,8.43,0.00,0.00,0.000,2049,0.086,0.000,949,1980,1696,1696,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.27,51.61
$GC,28,-1.82,-585.0,949,1979,1696,4094,0.6,0.0,1,56,8.73,1.27,-13.38,0.000,18948,0.052,1.235,1752,1531,3172,3172,4094,0,0,0,0,0,0,25.96,24.04,25.99,10.27,51.85
$GC,184,-1.82,-585.0,1751,1531,3176,4094,17.7,-18.0,22,194,0.00,0.95,0.00,0.000,1030,0.000,0.027,1752,1938,3176,3176,4094,0,0,0,0,0,0,26.12,26.10,26.14,10.60,50.82
$GC,233,-1.82,-585.0,1751,1938,3177,4094,27.3,-17.8,28,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1938,3178,3178,4095,0,0,0,0,0,0,26.44,26.46,26.45,10.59,50.66
$GC,281,-1.82,-585.0,1751,1939,3179,4095,34.7,-14.5,34,291,0.00,1.12,0.00,0.000,260,0.000,0.044,1752,2370,3179,3179,4095,0,0,0,0,0,0,26.48,26.04,26.48,10.56,50.11
$GC,350,-1.82,-585.0,1751,2369,3180,4095,44.7,-13.8,43,359,0.00,1.00,0.00,0.000,1030,0.000,0.027,1752,1968,3181,3181,4095,0,0,0,0,0,0,26.26,26.20,26.25,10.52,49.44
$GC,399,-1.82,-585.0,1751,1968,3182,4095,51.4,-14.1,49,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1969,3182,3182,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.51,49.25
$GC,447,-1.82,-585.0,1751,1968,3183,4094,58.3,-14.0,55,456,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,1968,3183,3183,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.50,48.46
$STATE,464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,464,begin apogee
$GC,476,-0.45,0.0,1751,2152,3183,4095,60.4,-12.0,57,520,4.50,0.00,33.58,1.285,10244,0.031,0.000,2188,2152,2484,2484,4094,0,0,0,0,0,0,26.22,25.18,24.08,10.49,47.75
$STATE,521,end apogee,CONTROL_FINISHED_OK
$STATE,521,begin climb
$GC,527,1.82,585.0,2188,2151,2484,4094,60.5,0.0,62,572,7.62,0.00,33.30,1.243,11270,0.029,0.000,2904,2152,1802,1802,4094,0,0,0,0,0,0,25.56,25.72,23.70,10.35,46.88
$GC,613,1.83,596.9,2903,2152,1801,4094,55.0,10.4,72,623,0.00,0.00,2.55,0.291,8198,0.000,0.000,2904,2152,1788,1788,4094,0,0,0,0,0,0,25.57,24.50,23.70,10.19,45.51
$GC,664,1.83,596.9,2903,2151,1786,4094,48.6,13.1,78,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2152,1786,1786,4094,0,0,0,0,0,0,25.80,25.82,25.82,10.18,45.62
$GC,713,1.83,596.9,2903,2152,1785,4094,41.9,13.3,84,723,0.00,1.17,0.00,0.000,516,0.000,0.043,2904,1709,1784,1784,4094,0,0,0,0,0,0,25.97,25.56,25.98,10.18,46.33
$GC,807,1.83,596.9,2903,1708,1782,4094,30.0,12.4,97,817,0.00,0.90,0.00,0.000,1030,0.000,0.028,2904,2085,1781,1781,4094,0,0,0,0,0,0,25.90,25.87,25.91,10.19,47.08
$GC,858,1.83,596.9,2903,2085,1781,4094,24.4,11.1,103,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2085,1781,1781,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.23,48.93
$GC,907,1.83,596.9,2903,2084,1779,4094,19.0,11.0,109,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2085,1779,1779,4094,0,0,0,0,0,0,26.32,26.32,26.32,10.24,50.11
$GC,956,1.83,596.9,2904,2084,1777,4094,13.4,11.5,115,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2085,1777,1777,4094,0,0,0,0,0,0,26.36,26.37,26.37,10.24,50.63
$GC,1005,1.83,596.9,2903,2085,1776,4094,7.6,12.1,121,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2085,1777,1777,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.25,50.90
$STATE,1050,end climb,FINISH_DEPTH_REACHED
$STATE,1050,begin subsurface finish
$FINISH1,1.9,1.024094,105
$GC,1064,0.16,105.0,2904,2137,1774,4094,1.9,11.4,127,1082,5.20,0.00,-5.25,0.000,20486,0.021,0.000,2393,2144,2367,2367,4094,0,0,0,0,0,0,26.16,25.48,26.20,10.25,50.82
$FINISH2,0.1
$STATE,1083,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1083,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,100338
$TT8_MAMPS,0.025466,0.250915
$HUMID,51.02
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,23.70,64.514
$10V_AH,10.10,59.110
$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,34.475,6.925,69.425,0.000,0.000,26.003,20.330,260.135,0.000,0.000,22.539,372.524,0.000,122.145,809.950,373.454,0.000,356.772,0.000,317.627,0.000,0.544,0.000
$DEVICE_MAMPS,86.445,1235.475,1285.200,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,87.057,350.523,277.337,411.260,538.735,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,10872,129
$CAP_FILE_SIZE,28507,0
$CFSIZE,1024409600,911376384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,112032,6006.095,-17248.428,7,0.9,21,7.5,0.0,298.4,10,5.0