version: 66.13
glider: 401
mission: 22
dive: 2219
start: 9 3 117 20 26 38
data:
$ID,401
$MISSION,22
$DIVE,2219
$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,500
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,030917,195949,6005.6807,-17245.7070,10,0.8,20,7.5,0.4,327.2,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-4.6
$GPS2,030917,195949,6005.6807,-17245.7070,10,0.8,20,7.5,0.4,327.2,10,4.9
$SPEED_LIMITS,0.226,0.395
$TGT_NAME,W22S
$TGT_LATLONG,5953.880,-17210.020
$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,115.9,39704,-11.5,-10.526,-14.94,6951
$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,-1.78,-487.5,2390,1950,2366,4092,0.0,0.0,0,19,5.57,0.00,0.00,0.000,4097,0.021,0.000,1835,1950,2366,2366,4094,0,0,0,0,0,0,26.44,28.83,28.83,10.36,52.63
$GC,25,-1.78,-487.5,1834,1949,2366,4094,0.1,0.0,1,39,0.40,1.23,-6.50,0.000,20996,0.038,1.249,1789,1525,3055,3055,4095,0,0,0,0,0,0,26.13,23.61,26.15,10.36,53.42
$GC,233,-1.78,-487.5,1788,1525,3060,4095,29.5,-17.8,34,239,0.00,1.02,0.00,0.000,1030,0.000,0.026,1789,1960,3061,3061,4094,0,0,0,0,0,0,26.20,26.17,26.22,10.51,52.55
$GC,274,-1.78,-487.5,1788,1959,3062,4094,35.5,-14.2,40,281,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1959,3062,3062,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.48,52.40
$GC,315,-1.78,-487.5,1788,1959,3063,4095,41.6,-14.5,46,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1959,3063,3063,4094,0,0,0,0,0,0,26.54,26.55,26.55,10.48,51.85
$GC,356,-1.78,-487.5,1788,1959,3064,4094,47.6,-14.3,52,362,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,1959,3064,3064,4095,0,0,0,0,0,0,26.55,26.57,26.57,10.46,51.81
$GC,397,-1.78,-487.5,1788,1959,3065,4095,53.2,-14.2,58,404,0.00,1.08,0.00,0.000,260,0.000,0.044,1789,2373,3065,3065,4095,0,0,0,0,0,0,26.58,26.10,26.58,10.45,50.78
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,445,begin apogee
$GC,458,-0.45,0.0,1789,2139,3066,4095,60.0,-11.8,66,494,4.15,0.00,28.17,1.262,10244,0.037,0.000,2188,2139,2484,2484,4095,0,0,0,0,0,0,26.18,25.33,24.21,10.43,50.55
$STATE,495,end apogee,CONTROL_FINISHED_OK
$STATE,495,begin climb
$GC,501,1.78,487.5,2188,2139,2484,4095,59.9,0.0,72,543,7.28,1.08,27.88,1.239,10756,0.023,0.043,2895,1713,1916,1916,4095,0,0,0,0,0,0,25.57,25.53,23.82,10.31,49.17
$GC,779,1.78,487.5,2895,1712,1910,4095,31.7,12.3,117,786,0.00,1.02,0.00,0.000,1030,0.000,0.029,2895,2132,1909,1909,4094,0,0,0,0,0,0,25.89,25.86,25.93,10.19,49.80
$GC,821,1.78,487.5,2895,2131,1908,4094,26.3,13.3,123,828,0.00,1.10,0.00,0.000,516,0.000,0.044,2895,1713,1908,1908,4094,0,0,0,0,0,0,26.26,25.81,26.27,10.19,50.82
$GC,1046,1.78,489.0,2895,1713,1902,4094,2.2,10.5,159,1059,0.00,1.02,0.00,0.000,1030,0.000,0.027,2895,2143,1902,1902,4094,0,0,0,0,0,0,26.17,26.14,26.19,10.25,53.18
$STATE,1064,end climb,FINISH_DEPTH_REACHED
$STATE,1064,begin subsurface finish
$FINISH1,0.1,1.024294,91
$GC,1077,0.14,91.0,2895,2143,1902,4094,0.1,9.3,161,1091,5.05,0.00,-4.35,0.000,20486,0.022,0.000,2400,2152,2384,2384,4094,0,0,0,0,0,0,26.14,24.41,26.20,10.25,53.18
$FINISH2,0.0
$STATE,1092,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1092,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,030917,181257
$TT8_MAMPS,0.025466,0.103362
$HUMID,52.91
$INTERNAL_PRESSURE,10.2872
$TCM_TEMP,4.60
$XPDR_PINGS,0
$24V_AH,23.61,65.075
$10V_AH,10.34,59.635
$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,22.450,8.650,56.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,419.162,288.564,108.325,235.877,101.322,0.000,269.152,0.000,245.612,0.000,0.543,0.000
$DEVICE_MAMPS,38.250,1249.245,1262.250,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,109.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330652
$DATA_FILE_SIZE,10801,163
$CAP_FILE_SIZE,21642,0
$CFSIZE,1024409600,910442496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,1047.75,0x236162,1,24
$GPS,030917,195949,6005.681,-17245.707,10,0.8,20,7.5,0.4,327.2,10,4.9