version: 66.13
glider: 401
mission: 22
dive: 2201
start: 9 3 117 11 41 21
data:
$ID,401
$MISSION,22
$DIVE,2201
$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,28
$R_STBD_OVSHOOT,40
$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
$GPS1,030917,112032,6006.0947,-17248.4277,7,0.9,21,7.5,0.0,298.4,10,5.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-2.3
$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,-585.0,2393,1942,2367,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,4097,0.023,0.000,1834,1942,2367,2367,4094,0,0,0,0,0,0,26.45,28.83,28.83,10.38,51.14
$GC,25,-1.82,-585.0,1833,1942,2366,4094,0.0,0.0,1,39,0.52,1.17,-7.47,0.000,20996,0.034,1.235,1776,1518,3172,3172,4094,0,0,0,0,0,0,26.15,24.22,26.16,10.39,51.26
$GC,239,-1.82,-585.0,1775,1518,3178,4094,30.0,-15.8,35,245,0.00,1.00,0.00,0.000,1030,0.000,0.025,1775,1949,3178,3178,4095,0,0,0,0,0,0,26.26,26.23,26.28,10.56,51.45
$GC,280,-1.82,-585.0,1775,1949,3179,4095,36.0,-14.8,41,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1949,3179,3179,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.54,51.61
$GC,321,-1.82,-585.0,1775,1950,3180,4095,41.9,-13.7,47,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1950,3180,3180,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.52,50.78
$GC,362,-1.82,-585.0,1775,1950,3180,4095,47.3,-13.0,53,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,1950,3181,3181,4095,0,0,0,0,0,0,26.59,26.60,26.60,10.50,50.90
$GC,403,-1.82,-585.0,1775,1950,3182,4095,52.4,-12.8,59,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1950,3182,3182,4095,0,0,0,0,0,0,26.60,26.62,26.62,10.49,50.03
$GC,444,-1.82,-585.0,1775,1950,3182,4095,58.1,-14.3,65,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,1950,3182,3182,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.48,49.09
$STATE,454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,455,begin apogee
$GC,467,-0.45,0.0,1775,2142,3183,4095,60.4,-13.8,67,509,4.25,0.00,33.50,1.289,10244,0.031,0.000,2190,2143,2484,2484,4095,0,0,0,0,0,0,26.27,25.22,24.13,10.48,49.01
$STATE,510,end apogee,CONTROL_FINISHED_OK
$STATE,510,begin climb
$GC,515,1.82,585.0,2189,2143,2484,4095,60.4,0.0,74,563,7.57,0.00,33.17,1.239,11270,0.029,0.000,2902,2143,1803,1803,4094,0,0,0,0,0,0,25.55,25.74,23.75,10.33,48.54
$GC,598,1.82,585.0,2901,2142,1802,4094,54.4,11.0,87,605,0.00,1.15,0.00,0.000,516,0.000,0.044,2902,1714,1802,1802,4094,0,0,0,0,0,0,25.56,25.22,25.57,10.18,47.55
$GC,748,1.82,585.0,2901,1714,1797,4094,35.1,13.6,111,755,0.00,0.98,0.00,0.000,1030,0.000,0.028,2902,2113,1797,1797,4094,0,0,0,0,0,0,25.82,25.79,25.84,10.16,48.07
$GC,790,1.82,585.0,2902,2112,1796,4094,30.0,11.8,117,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2113,1796,1796,4094,0,0,0,0,0,0,26.17,26.19,26.19,10.19,48.14
$GC,831,1.82,585.0,2902,2112,1795,4094,25.0,12.0,123,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2113,1795,1795,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.20,49.76
$GC,872,1.93,663.5,2902,2112,1794,4094,21.0,9.6,129,891,0.32,0.00,5.57,0.584,10246,0.035,0.000,2943,2113,1709,1709,4094,0,0,0,0,0,0,26.06,25.15,24.53,10.22,50.31
$GC,926,1.93,663.5,2942,2112,1708,4094,15.0,12.2,136,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2112,1708,1708,4094,0,0,0,0,0,0,26.29,26.30,26.29,10.22,51.02
$GC,967,1.93,663.5,2942,2112,1706,4094,10.0,11.8,142,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2113,1706,1706,4094,0,0,0,0,0,0,26.34,26.35,26.35,10.22,51.61
$GC,1007,1.93,663.5,2942,2112,1704,4094,5.0,11.8,148,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2113,1704,1704,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.23,51.89
$STATE,1031,end climb,FINISH_DEPTH_REACHED
$STATE,1031,begin subsurface finish
$FINISH1,1.5,1.024088,105
$GC,1044,0.16,105.4,2943,2112,1704,4094,1.5,12.7,152,1063,5.62,1.15,-5.78,0.000,20996,0.020,1.242,2390,1716,2369,2369,4095,0,0,0,0,0,0,26.14,24.19,26.18,10.23,52.36
$FINISH2,0.1
$STATE,1064,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1064,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,100338
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.24
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.70
$XPDR_PINGS,0
$24V_AH,23.75,64.539
$10V_AH,10.37,59.121
$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,23.925,6.375,72.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,394.867,241.203,146.098,225.673,119.777,0.000,319.370,0.000,234.215,0.000,0.543,0.000
$DEVICE_MAMPS,35.190,1241.595,1289.025,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,103.084,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330724
$DATA_FILE_SIZE,10848,155
$CAP_FILE_SIZE,24981,0
$CFSIZE,1024409600,911327232
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,877.61,0x236164,1,24
$GPS,030917,112032,6006.095,-17248.428,7,0.9,21,7.5,0.0,298.4,10,5.0