version: 66.13
glider: 401
mission: 22
dive: 2266
start: 9 4 117 15 1 51
data:
$ID,401
$MISSION,22
$DIVE,2266
$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,26
$R_STBD_OVSHOOT,47
$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
$GPS1,040917,144923,6002.2925,-17240.0020,7,0.8,23,7.6,0.4,38.6,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-40.9
$GPS2,040917,150113,6002.3013,-17240.0000,9,0.8,21,7.6,0.0,298.1,9,4.8
$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,111.7,31918,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,12,-1.80,-487.5,239,1978,1856,4092,0.0,0.0,0,22,8.48,0.00,0.00,0.000,2049,0.099,0.000,943,1977,1856,1856,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.30,51.37
$GC,28,-1.80,-487.5,943,1977,1856,4094,0.8,0.0,1,56,8.65,1.27,-10.98,0.000,18948,0.040,1.230,1756,1524,3055,3055,4095,0,0,0,0,0,0,25.99,24.08,26.03,10.31,51.69
$GC,232,-1.80,-487.5,1756,1524,3061,4095,27.3,-17.9,29,242,0.00,0.98,0.00,0.000,1030,0.000,0.026,1756,1943,3061,3061,4094,0,0,0,0,0,0,26.17,26.14,26.18,10.57,51.41
$GC,283,-1.80,-487.5,1756,1943,3062,4094,35.4,-15.8,35,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1943,3063,3063,4094,0,0,0,0,0,0,26.48,26.50,26.49,10.55,50.94
$GC,333,-1.80,-487.5,1756,1942,3064,4094,42.9,-15.0,41,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1943,3064,3064,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.53,50.07
$GC,382,-1.80,-487.5,1756,1942,3065,4095,50.6,-15.4,47,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1943,3065,3065,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.51,50.00
$STATE,405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,405,begin apogee
$GC,418,-0.45,0.0,1757,2134,3066,4094,55.0,-14.9,50,454,4.62,0.00,28.27,1.226,10244,0.054,0.000,2186,2134,2484,2484,4095,0,0,0,0,0,0,26.09,25.32,24.21,10.50,48.66
$STATE,455,end apogee,CONTROL_FINISHED_OK
$STATE,455,begin climb
$GC,461,1.80,487.5,2185,2134,2484,4095,59.1,0.0,54,506,7.55,1.10,27.85,1.205,10756,0.029,0.041,2903,1711,1917,1917,4094,0,0,0,0,0,0,25.57,25.53,23.87,10.36,47.63
$GC,609,1.80,487.5,2903,1710,1914,4094,45.1,13.0,73,619,0.00,1.05,0.00,0.000,1030,0.000,0.028,2903,2136,1914,1914,4094,0,0,0,0,0,0,25.72,25.68,25.74,10.22,46.02
$GC,659,1.80,487.5,2903,2136,1913,4094,38.1,12.6,79,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1913,1913,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.23,46.57
$GC,707,1.80,487.5,2903,2136,1911,4094,32.1,12.6,85,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2136,1911,1911,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.24,47.40
$GC,755,1.80,487.5,2903,2136,1910,4094,26.0,12.4,91,765,0.00,1.12,0.00,0.000,516,0.000,0.044,2903,1708,1910,1910,4094,0,0,0,0,0,0,26.29,25.85,26.29,10.25,48.07
$GC,864,1.83,504.2,2903,1707,1907,4094,14.4,10.5,106,875,0.00,1.02,2.45,0.170,9222,0.000,0.028,2903,2133,1895,1895,4095,0,0,0,0,0,0,26.10,26.08,24.34,10.28,50.23
$GC,916,1.93,571.9,2903,2133,1893,4095,9.3,9.8,112,926,0.22,0.00,5.28,0.474,10246,0.044,0.000,2935,2133,1815,1815,4094,0,0,0,0,0,0,26.21,25.58,24.71,10.28,51.14
$GC,967,1.93,571.9,2934,2132,1814,4094,3.4,11.5,118,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2133,1814,1814,4094,0,0,0,0,0,0,26.43,26.44,26.44,10.27,50.98
$STATE,984,end climb,FINISH_DEPTH_REACHED
$STATE,984,begin subsurface finish
$FINISH1,0.5,1.024108,104
$GC,997,0.16,103.9,2934,2133,1813,4094,0.5,11.9,120,1016,5.55,0.00,-4.88,0.000,20486,0.022,0.000,2389,2141,2367,2367,4095,0,0,0,0,0,0,26.18,25.48,26.22,10.27,51.45
$FINISH2,0.0
$STATE,1017,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1017,begin surface
$IRIDIUM_FIX,5957.10,-16911.74,040917,145405
$TT8_MAMPS,0.025466,0.263648
$HUMID,51.73
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,23.87,66.373
$10V_AH,10.07,60.707
$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,35.075,7.000,63.850,0.000,0.000,53.103,62.443,256.292,0.000,0.000,22.281,356.562,44.657,107.053,848.318,373.899,0.000,319.331,0.000,302.551,0.000,0.544,0.000
$DEVICE_MAMPS,99.450,1230.120,1226.295,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,82.506,331.547,262.216,389.382,510.144,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329316
$DATA_FILE_SIZE,10737,122
$CAP_FILE_SIZE,27022,0
$CFSIZE,1024409600,908132352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,150113,6002.301,-17240.000,9,0.8,21,7.6,0.0,298.1,9,4.8