version: 66.13
glider: 401
mission: 22
dive: 2263
start: 9 4 117 13 50 38
data:
$ID,401
$MISSION,22
$DIVE,2263
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,55
$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,17
$T_MISSION,30
$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,20
$R_STBD_OVSHOOT,70
$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
$GPS1,040917,133901,6002.5156,-17240.7148,11,0.8,31,7.5,0.0,247.9,11,4.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-43.5
$GPS2,040917,134959,6002.5098,-17240.7891,8,0.9,16,7.5,0.0,271.7,9,4.8
$SPEED_LIMITS,0.231,0.398
$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,111.7,32746,-11.8,-10.784,-15.15,6791
$D_GRID,55
$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,12,-1.80,-487.5,230,1954,1905,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.088,0.000,711,1954,1905,1905,4095,0,0,0,0,0,0,26.34,28.83,28.83,10.32,51.06
$GC,25,-1.80,-487.5,711,1952,1905,4095,0.7,0.0,1,56,11.43,1.20,-10.45,0.000,18948,0.054,1.232,1754,1518,3057,3057,4095,0,0,0,0,0,0,25.88,24.04,25.97,10.32,50.78
$GC,214,-1.80,-487.5,1753,1517,3062,4095,22.2,-18.0,31,221,0.00,0.93,0.00,0.000,1030,0.000,0.027,1754,1917,3062,3062,4095,0,0,0,0,0,0,26.15,26.12,26.17,10.57,50.51
$GC,256,-1.80,-487.5,1753,1917,3063,4095,29.3,-16.4,37,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1917,3064,3064,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.55,50.39
$GC,297,-1.80,-487.5,1753,1917,3065,4094,36.1,-16.8,43,304,0.00,1.17,0.00,0.000,260,0.000,0.044,1755,2369,3065,3065,4094,0,0,0,0,0,0,26.48,26.03,26.50,10.54,50.43
$GC,357,-1.80,-487.5,1753,2369,3066,4094,45.4,-15.7,52,363,0.00,1.05,0.00,0.000,1030,0.000,0.028,1753,1944,3067,3067,4095,0,0,0,0,0,0,26.20,26.17,26.21,10.53,49.96
$GC,399,-1.80,-487.5,1754,1944,3068,4095,51.7,-14.7,58,405,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,1944,3067,3067,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.51,49.40
$STATE,416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,416,begin apogee
$GC,429,-0.45,0.0,1754,2135,3068,4094,55.3,-15.7,61,465,4.68,0.00,28.23,1.247,10244,0.054,0.000,2185,2136,2484,2484,4094,0,0,0,0,0,0,26.08,25.31,24.19,10.50,49.40
$STATE,466,end apogee,CONTROL_FINISHED_OK
$STATE,466,begin climb
$GC,472,1.80,487.5,2185,2135,2484,4094,59.5,0.0,67,513,7.55,0.00,27.92,1.216,11270,0.030,0.000,2900,2135,1915,1915,4094,0,0,0,0,0,0,25.67,25.83,23.87,10.37,48.34
$GC,549,1.80,487.5,2900,2135,1915,4094,53.8,11.1,79,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1915,1915,4094,0,0,0,0,0,0,25.68,25.70,25.69,10.23,46.37
$GC,590,1.80,487.5,2900,2135,1913,4094,48.7,12.8,85,596,0.00,1.12,0.00,0.000,516,0.000,0.043,2900,1713,1913,1913,4094,0,0,0,0,0,0,25.88,25.50,25.89,10.23,46.37
$GC,733,1.80,487.5,2900,1713,1910,4094,30.4,11.6,108,740,0.00,1.00,0.00,0.000,1030,0.000,0.028,2901,2125,1909,1909,4094,0,0,0,0,0,0,25.96,25.91,25.98,10.25,48.46
$GC,775,1.80,487.5,2900,2125,1908,4094,25.8,11.2,114,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2126,1908,1908,4094,0,0,0,0,0,0,26.30,26.31,26.31,10.25,48.85
$GC,816,1.91,558.9,2900,2125,1907,4094,21.8,9.7,120,824,0.28,0.00,5.25,0.567,10246,0.037,0.000,2939,2125,1832,1832,4094,0,0,0,0,0,0,26.13,25.52,24.54,10.27,49.84
$GC,860,1.95,582.9,2938,2125,1831,4094,17.4,10.4,126,867,0.00,0.00,3.10,0.319,8198,0.000,0.000,2939,2125,1803,1803,4094,0,0,0,0,0,0,26.33,25.48,24.50,10.26,50.55
$GC,902,1.95,582.9,2938,2125,1803,4094,12.7,11.4,132,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2125,1803,1803,4095,0,0,0,0,0,0,26.36,26.37,26.37,10.26,51.33
$GC,943,1.95,582.9,2938,2124,1801,4095,7.7,11.9,138,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2125,1802,1802,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.26,51.29
$GC,984,1.95,582.9,2938,2125,1800,4094,2.8,12.1,144,991,0.00,1.08,0.00,0.000,516,0.000,0.045,2939,1713,1800,1800,4094,0,0,0,0,0,0,26.44,25.98,26.45,10.27,51.53
$STATE,996,end climb,FINISH_DEPTH_REACHED
$STATE,996,begin subsurface finish
$FINISH1,0.6,1.024116,103
$GC,1011,0.16,103.4,2939,2148,1800,4094,0.6,12.0,146,1024,5.60,0.00,-4.97,0.000,20998,0.022,0.000,2391,2156,2368,2368,4094,0,0,0,0,0,0,26.17,24.46,26.22,10.27,52.00
$FINISH2,-0.0
$STATE,1025,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1025,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,123421
$TT8_MAMPS,0.025466,0.159537
$HUMID,51.69
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,23.87,66.291
$10V_AH,10.23,60.631
$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,35.150,9.250,64.500,0.000,0.000,25.677,22.039,319.409,0.000,0.000,17.533,394.264,226.821,142.729,533.005,390.305,0.000,312.253,0.000,225.855,0.000,0.544,0.000
$DEVICE_MAMPS,87.975,1232.415,1246.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,98.166,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329372
$DATA_FILE_SIZE,10828,148
$CAP_FILE_SIZE,30662,0
$CFSIZE,1024409600,908279808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,134959,6002.510,-17240.789,8,0.9,16,7.5,0.0,271.7,9,4.8