version: 66.13
glider: 401
mission: 22
dive: 2269
start: 9 4 117 16 10 18
data:
$ID,401
$MISSION,22
$DIVE,2269
$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,31
$R_STBD_OVSHOOT,30
$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
$GPS1,040917,155907,6002.0708,-17239.0254,7,0.7,39,7.6,0.6,43.1,11,4.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-41.8
$GPS2,040917,160940,6002.0620,-17239.0078,8,0.7,14,7.6,0.0,0.0,12,4.5
$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,111.8,30897,-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,-487.5,231,1942,1901,4092,0.0,0.0,0,19,5.65,0.00,0.00,0.000,2049,0.099,0.000,702,1943,1901,1901,4094,0,0,0,0,0,0,26.34,28.83,28.83,10.32,51.14
$GC,26,-1.80,-487.5,701,1942,1901,4094,0.9,0.0,1,56,11.48,1.15,-10.50,0.000,18948,0.050,1.237,1757,1532,3057,3057,4095,0,0,0,0,0,0,26.00,24.05,26.05,10.33,51.18
$GC,220,-1.80,-487.5,1756,1532,3062,4095,26.9,-18.5,32,227,0.00,1.00,0.00,0.000,1030,0.000,0.028,1757,1950,3062,3062,4094,0,0,0,0,0,0,26.12,26.09,26.15,10.57,50.47
$GC,262,-1.80,-487.5,1756,1950,3064,4094,34.2,-17.4,38,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3063,3063,4094,0,0,0,0,0,0,26.46,26.48,26.48,10.56,50.31
$GC,303,-1.80,-487.5,1756,1950,3065,4094,40.8,-15.7,44,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3065,3065,4095,0,0,0,0,0,0,26.49,26.51,26.51,10.54,50.55
$GC,344,-1.80,-487.5,1756,1950,3066,4095,47.2,-15.6,50,350,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1951,3066,3066,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.52,50.59
$GC,385,-1.80,-487.5,1756,1950,3067,4094,53.7,-15.4,56,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,1950,3067,3067,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.50,49.44
$STATE,395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,396,begin apogee
$GC,408,-0.45,0.0,1757,2140,3068,4095,56.3,-16.1,58,444,4.62,0.00,28.25,1.246,10244,0.053,0.000,2185,2140,2484,2484,4094,0,0,0,0,0,0,26.09,25.29,24.19,10.49,48.70
$STATE,445,end apogee,CONTROL_FINISHED_OK
$STATE,446,begin climb
$GC,451,1.80,487.5,2185,2140,2483,4094,60.2,0.0,64,494,7.50,1.10,27.88,1.217,10756,0.029,0.039,2901,1713,1915,1915,4094,0,0,0,0,0,0,25.57,25.53,23.84,10.36,48.26
$GC,592,1.80,487.5,2901,1712,1913,4094,45.9,13.0,86,599,0.00,1.05,0.00,0.000,1030,0.000,0.028,2902,2138,1913,1913,4094,0,0,0,0,0,0,25.69,25.65,25.70,10.22,46.22
$GC,634,1.80,487.5,2901,2137,1912,4094,40.4,13.2,92,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2138,1911,1911,4094,0,0,0,0,0,0,26.08,26.09,26.08,10.22,46.69
$GC,675,1.80,487.5,2901,2137,1910,4094,35.0,13.0,98,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2138,1910,1910,4094,0,0,0,0,0,0,26.17,26.17,26.17,10.23,47.48
$GC,716,1.80,487.5,2901,2137,1909,4094,29.8,12.7,104,723,0.00,1.10,0.00,0.000,516,0.000,0.044,2902,1719,1909,1909,4094,0,0,0,0,0,0,26.24,25.82,26.25,10.25,48.38
$GC,818,1.80,487.5,2901,1719,1906,4094,18.0,10.9,120,824,0.00,1.00,0.00,0.000,1030,0.000,0.028,2902,2133,1906,1906,4095,0,0,0,0,0,0,26.07,26.04,26.09,10.28,51.06
$GC,860,1.80,487.5,2901,2132,1905,4095,13.5,11.0,126,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1905,1905,4094,0,0,0,0,0,0,26.41,26.42,26.42,10.28,51.10
$GC,901,1.81,493.6,2901,2132,1904,4094,9.1,10.7,132,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1904,1904,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.29,51.57
$GC,942,1.81,493.6,2901,2132,1902,4094,4.5,11.3,138,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2133,1903,1903,4094,0,0,0,0,0,0,26.48,26.49,26.48,10.29,51.92
$STATE,966,end climb,FINISH_DEPTH_REACHED
$STATE,966,begin subsurface finish
$FINISH1,1.4,1.024107,104
$GC,979,0.16,104.0,2902,2132,1902,4094,1.4,10.9,142,993,5.18,1.23,-4.07,0.000,20996,0.020,1.238,2389,1718,2367,2367,4094,0,0,0,0,0,0,26.21,24.22,26.26,10.29,52.00
$FINISH2,0.0
$STATE,994,end subsurface finish,CONTROL_FINISHED_OK
$STATE,994,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,145543
$TT8_MAMPS,0.025466,0.132573
$HUMID,51.92
$INTERNAL_PRESSURE,10.3262
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.84,66.455
$10V_AH,10.29,60.764
$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,34.425,8.075,56.125,0.000,0.000,23.231,17.935,302.626,0.000,0.000,16.020,380.640,220.110,138.049,500.766,391.000,0.000,301.916,0.000,220.338,0.000,0.543,0.000
$DEVICE_MAMPS,99.450,1237.770,1246.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.610,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329332
$DATA_FILE_SIZE,10897,144
$CAP_FILE_SIZE,28273,0
$CFSIZE,1024409600,907984896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,160940,6002.062,-17239.008,8,0.7,14,7.6,0.0,0.0,12,4.5