version: 66.13
glider: 401
mission: 22
dive: 2264
start: 9 4 117 14 9 49
data:
$ID,401
$MISSION,22
$DIVE,2264
$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,33
$R_STBD_OVSHOOT,33
$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
$GPS1,040917,134959,6002.5098,-17240.7891,8,0.9,16,7.5,0.0,271.7,9,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-1.5
$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,11,-1.80,-487.5,2391,1946,2368,4092,0.0,0.0,0,22,6.40,0.00,-2.00,0.000,20482,0.022,0.000,1763,1947,2586,2586,4095,0,0,0,0,0,0,26.25,28.83,26.30,10.39,51.61
$GC,28,-1.80,-487.5,1762,1946,2586,4095,0.0,0.0,1,38,0.00,1.17,-4.35,0.000,16900,0.000,1.245,1764,1529,3057,3057,4095,0,0,0,0,0,0,26.53,24.23,26.53,10.44,51.89
$GC,177,-1.80,-487.5,1762,1528,3061,4095,20.5,-18.1,22,186,0.00,0.98,0.00,0.000,1030,0.000,0.028,1762,1939,3061,3061,4094,0,0,0,0,0,0,26.29,26.26,26.30,10.55,51.57
$GC,227,-1.80,-487.5,1763,1938,3062,4094,29.1,-16.5,28,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1939,3063,3063,4094,0,0,0,0,0,0,26.59,26.60,26.60,10.54,51.89
$GC,277,-1.80,-487.5,1762,1939,3065,4094,36.1,-14.0,34,286,0.00,1.15,0.00,0.000,260,0.000,0.045,1763,2381,3064,3064,4094,0,0,0,0,0,0,26.61,26.14,26.63,10.53,51.14
$GC,345,-1.80,-487.5,1762,2381,3066,4094,46.3,-14.3,43,355,0.00,1.05,0.00,0.000,1030,0.000,0.028,1763,1957,3066,3066,4094,0,0,0,0,0,0,26.32,26.28,26.36,10.50,51.10
$GC,394,-1.80,-487.5,1762,1957,3067,4094,53.5,-15.0,49,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1957,3068,3068,4094,0,0,0,0,0,0,26.65,26.67,26.67,10.48,49.56
$STATE,411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,411,begin apogee
$GC,424,-0.45,0.0,1762,2151,3068,4094,56.9,-15.0,51,460,4.53,0.00,28.33,1.246,10244,0.053,0.000,2185,2152,2484,2484,4095,0,0,0,0,0,0,26.20,25.39,24.27,10.48,49.72
$STATE,461,end apogee,CONTROL_FINISHED_OK
$STATE,461,begin climb
$GC,466,1.80,487.5,2184,2152,2484,4095,60.8,0.0,55,511,7.60,0.00,27.80,1.224,11270,0.031,0.000,2900,2152,1918,1918,4094,0,0,0,0,0,0,25.73,25.91,23.91,10.35,48.62
$GC,552,1.80,487.5,2900,2151,1916,4094,54.4,12.2,65,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2152,1916,1916,4094,0,0,0,0,0,0,25.77,25.78,25.77,10.22,46.88
$GC,602,1.80,487.5,2900,2151,1915,4094,48.2,12.3,71,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2152,1914,1914,4094,0,0,0,0,0,0,25.96,25.98,25.98,10.22,47.16
$GC,651,1.80,487.5,2900,2151,1913,4094,42.1,12.1,77,661,0.00,1.17,0.00,0.000,516,0.000,0.044,2901,1708,1913,1913,4094,0,0,0,0,0,0,26.10,25.69,26.11,10.22,47.16
$GC,805,1.89,542.7,2900,1707,1910,4094,25.6,10.0,99,817,0.15,1.02,4.55,0.541,11270,0.042,0.028,2927,2133,1850,1850,4094,0,0,0,0,0,0,26.01,26.02,24.48,10.25,49.33
$GC,858,1.94,578.0,2926,2132,1849,4094,20.4,10.3,105,868,0.10,0.00,3.67,0.414,10246,0.071,0.000,2945,2132,1809,1809,4094,0,0,0,0,0,0,26.17,25.15,24.53,10.26,50.31
$GC,909,1.94,578.0,2944,2132,1808,4094,14.4,11.9,111,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2132,1808,1808,4094,0,0,0,0,0,0,26.38,26.39,26.39,10.25,51.61
$GC,959,1.94,578.0,2944,2132,1806,4094,8.4,12.0,117,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2132,1806,1806,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.26,51.85
$GC,1008,1.94,578.0,2944,2132,1804,4094,2.2,12.5,123,1018,0.00,1.10,0.00,0.000,516,0.000,0.044,2945,1710,1804,1804,4094,0,0,0,0,0,0,26.46,26.02,26.48,10.26,51.49
$STATE,1026,end climb,FINISH_DEPTH_REACHED
$STATE,1026,begin subsurface finish
$FINISH1,-0.1,1.012860,0
$GC,1041,0.00,0.0,2945,2163,1805,4094,-0.1,10.8,125,1060,6.00,1.25,-6.05,0.000,20996,0.022,1.237,2351,1710,2489,2489,4094,0,0,0,0,0,0,26.22,24.23,26.26,10.26,52.59
$FINISH2,-0.0
$STATE,1061,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1061,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,123421
$TT8_MAMPS,0.026215,0.246421
$HUMID,51.89
$INTERNAL_PRESSURE,10.3555
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,23.91,66.312
$10V_AH,10.10,60.660
$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,24.775,10.950,64.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,370.467,0.000,107.001,532.331,114.151,0.000,318.811,0.000,311.391,0.000,0.542,0.000
$DEVICE_MAMPS,71.145,1245.420,1246.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,86.065,345.156,272.985,404.733,530.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330740
$DATA_FILE_SIZE,10903,127
$CAP_FILE_SIZE,24275,0
$CFSIZE,1024409600,908230656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,134959,6002.510,-17240.789,8,0.9,16,7.5,0.0,271.7,9,4.8