version: 66.13
glider: 401
mission: 22
dive: 2203
start: 9 3 117 12 33 23
data:
$ID,401
$MISSION,22
$DIVE,2203
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,030917,122201,6006.0811,-17247.7910,9,0.7,40,7.5,0.0,246.8,11,4.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-40.3
$GPS2,030917,123243,6006.1133,-17247.8926,6,1.0,16,7.5,0.0,267.6,9,4.5
$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,108.1,83607,-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,-585.0,238,1948,1787,4092,0.0,0.0,0,19,5.55,0.00,0.00,0.000,2049,0.099,0.000,703,1948,1787,1787,4094,0,0,0,0,0,0,26.30,28.83,28.83,10.28,50.78
$GC,25,-1.82,-585.0,703,1947,1787,4094,0.8,0.0,1,56,11.27,1.17,-12.65,0.000,18948,0.044,1.238,1751,1522,3168,3168,4095,0,0,0,0,0,0,25.88,24.06,25.98,10.30,50.70
$GC,190,-1.82,-585.0,1750,1522,3173,4095,21.5,-17.8,27,196,0.00,1.02,0.00,0.000,1030,0.000,0.026,1751,1953,3173,3173,4094,0,0,0,0,0,0,26.12,26.09,26.15,10.59,50.63
$GC,231,-1.82,-585.0,1750,1953,3174,4094,28.9,-17.9,33,237,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1953,3174,3174,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.59,50.15
$GC,272,-1.82,-585.0,1750,1953,3175,4095,35.5,-15.9,39,278,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,1953,3175,3175,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.57,50.15
$GC,313,-1.82,-585.0,1750,1953,3176,4095,41.5,-14.6,45,319,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,1953,3176,3176,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.54,49.52
$GC,354,-1.82,-585.0,1750,1953,3177,4095,47.1,-13.8,51,360,0.00,1.10,0.00,0.000,260,0.000,0.044,1751,2378,3177,3177,4095,0,0,0,0,0,0,26.51,26.06,26.52,10.52,49.76
$GC,419,-1.82,-585.0,1750,2377,3179,4095,56.4,-14.1,61,426,0.00,1.08,0.00,0.000,1030,0.000,0.027,1751,1947,3179,3179,4095,0,0,0,0,0,0,26.22,26.20,26.26,10.51,48.77
$STATE,443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,443,begin apogee
$GC,456,-0.45,0.0,1751,2146,3179,4095,60.6,-14.6,65,497,4.50,0.00,33.33,1.268,10244,0.029,0.000,2189,2145,2484,2484,4095,0,0,0,0,0,0,26.22,25.19,24.08,10.50,47.91
$STATE,498,end apogee,CONTROL_FINISHED_OK
$STATE,498,begin climb
$GC,504,1.82,585.0,2189,2145,2484,4095,60.7,0.0,72,551,7.57,0.00,33.28,1.239,11270,0.028,0.000,2903,2144,1801,1801,4094,0,0,0,0,0,0,25.53,25.71,23.72,10.35,47.36
$GC,587,1.82,588.5,2903,2145,1800,4094,55.5,10.5,85,593,0.00,1.15,0.00,0.000,516,0.000,0.042,2903,1712,1800,1800,4094,0,0,0,0,0,0,25.55,25.20,25.56,10.19,46.25
$GC,694,1.82,588.5,2903,1711,1796,4094,41.2,13.3,102,701,0.00,0.95,0.00,0.000,1030,0.000,0.028,2903,2102,1796,1796,4094,0,0,0,0,0,0,25.72,25.70,25.75,10.18,46.53
$GC,736,1.82,588.5,2903,2102,1796,4094,36.0,13.0,108,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2102,1795,1795,4094,0,0,0,0,0,0,26.10,26.10,26.10,10.19,47.04
$GC,777,1.82,588.5,2903,2102,1794,4094,31.0,11.7,114,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2102,1794,1794,4094,0,0,0,0,0,0,26.17,26.19,26.18,10.19,48.22
$GC,817,1.82,588.5,2903,2102,1793,4094,26.1,11.4,120,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2102,1793,1793,4094,0,0,0,0,0,0,26.24,26.25,26.25,10.22,48.77
$GC,859,1.84,603.3,2903,2102,1792,4094,21.7,10.3,126,866,0.00,0.00,2.42,0.181,8198,0.000,0.000,2904,2102,1780,1780,4094,0,0,0,0,0,0,26.29,25.30,24.23,10.23,49.52
$GC,901,1.84,603.3,2903,2102,1779,4094,17.1,11.0,132,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2102,1779,1779,4095,0,0,0,0,0,0,26.33,26.34,26.34,10.24,50.35
$GC,941,1.84,603.3,2903,2102,1778,4095,12.5,11.1,138,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2102,1777,1777,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.24,51.02
$GC,982,1.84,603.3,2903,2102,1777,4094,7.8,11.4,144,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2102,1777,1777,4095,0,0,0,0,0,0,26.41,26.42,26.41,10.25,51.26
$GC,1023,1.84,603.3,2903,2102,1775,4095,3.3,10.9,150,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2102,1775,1775,4094,0,0,0,0,0,0,26.44,26.45,26.45,10.25,51.61
$STATE,1034,end climb,FINISH_DEPTH_REACHED
$STATE,1034,begin subsurface finish
$FINISH1,1.5,1.024081,106
$GC,1048,0.16,105.9,2903,2145,1775,4094,1.5,10.9,152,1061,5.22,0.00,-5.20,0.000,20486,0.021,0.000,2390,2152,2365,2365,4095,0,0,0,0,0,0,26.16,24.45,26.21,10.25,51.77
$FINISH2,0.0
$STATE,1062,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1062,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,111505
$TT8_MAMPS,0.025466,0.161035
$HUMID,51.96
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.72,64.608
$10V_AH,10.23,59.170
$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,34.125,7.025,69.025,0.000,0.000,22.212,22.426,312.017,0.000,0.000,17.767,401.119,228.618,156.849,533.598,389.715,0.000,334.941,0.000,234.474,0.000,0.545,0.000
$DEVICE_MAMPS,98.685,1237.770,1268.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,102.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329240
$DATA_FILE_SIZE,10876,154
$CAP_FILE_SIZE,30985,0
$CFSIZE,1024409600,911228928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030917,123243,6006.113,-17247.893,6,1.0,16,7.5,0.0,267.6,9,4.5