version: 66.13
glider: 401
mission: 22
dive: 2270
start: 9 4 117 16 28 58
data:
$ID,401
$MISSION,22
$DIVE,2270
$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,59
$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
$GPS1,040917,160940,6002.0620,-17239.0078,8,0.7,14,7.6,0.0,0.0,12,4.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-1.3
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,12,-1.80,-487.5,2389,1990,2367,4092,0.0,0.0,0,30,6.38,0.08,-6.35,0.000,20486,0.021,1.284,1760,1968,3058,3058,4095,0,0,0,0,0,0,26.26,23.55,26.30,10.39,51.92
$GC,36,-1.80,-487.5,1760,1967,3057,4095,0.1,-1.0,2,44,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1967,3057,3057,4094,0,0,0,0,0,0,26.47,26.48,26.48,10.55,52.08
$GC,84,-1.80,-487.5,1760,1967,3059,4094,6.5,-15.8,8,92,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1967,3059,3059,4095,0,0,0,0,0,0,26.51,26.53,26.53,10.55,52.04
$GC,132,-1.80,-487.5,1760,1967,3060,4095,15.3,-18.6,14,139,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,1967,3061,3061,4095,0,0,0,0,0,0,26.55,26.55,26.55,10.55,51.53
$GC,179,-1.80,-487.5,1760,1967,3062,4095,24.0,-18.3,20,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1967,3062,3062,4095,0,0,0,0,0,0,26.57,26.58,26.58,10.55,51.61
$GC,226,-1.80,-487.5,1760,1967,3064,4095,32.4,-17.8,26,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1967,3064,3064,4095,0,0,0,0,0,0,26.60,26.60,26.60,10.55,51.77
$GC,274,-1.80,-487.5,1760,1967,3065,4095,40.0,-15.2,32,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1967,3065,3065,4095,0,0,0,0,0,0,26.62,26.63,26.63,10.52,51.29
$GC,322,-1.80,-487.5,1760,1967,3066,4095,47.1,-15.3,38,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1967,3067,3067,4094,0,0,0,0,0,0,26.63,26.65,26.65,10.50,50.63
$GC,370,-1.80,-487.5,1760,1967,3068,4094,54.4,-15.5,44,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,1967,3068,3068,4095,0,0,0,0,0,0,26.65,26.67,26.66,10.48,49.56
$STATE,386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,387,begin apogee
$GC,399,-0.45,0.0,1760,2114,3069,4094,58.0,-16.1,46,436,4.55,0.00,28.40,1.278,10246,0.054,0.000,2185,2115,2484,2484,4094,0,0,0,0,0,0,26.20,25.37,24.24,10.47,49.13
$STATE,437,end apogee,CONTROL_FINISHED_OK
$STATE,437,begin climb
$GC,442,1.80,487.5,2184,2114,2484,4094,62.2,0.0,50,487,7.57,1.12,27.90,1.247,10756,0.030,0.043,2901,1700,1916,1916,4094,0,0,0,0,0,0,25.72,24.62,23.84,10.34,48.26
$GC,597,1.80,487.5,2900,1700,1914,4094,47.6,12.1,70,606,0.00,1.08,0.00,0.000,1030,0.000,0.028,2901,2135,1913,1913,4094,0,0,0,0,0,0,25.73,25.72,25.75,10.20,47.20
$GC,647,1.80,487.5,2901,2135,1912,4094,41.5,12.8,76,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1912,1912,4094,0,0,0,0,0,0,26.14,26.15,26.15,10.20,46.96
$GC,697,1.80,487.5,2900,2135,1911,4094,35.3,12.3,82,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2135,1910,1910,4094,0,0,0,0,0,0,26.23,26.24,26.24,10.22,48.14
$GC,747,1.80,487.5,2900,2135,1909,4094,29.0,12.0,88,756,0.00,1.15,0.00,0.000,516,0.000,0.044,2901,1699,1909,1909,4094,0,0,0,0,0,0,26.30,25.86,26.31,10.23,48.70
$GC,841,1.80,487.5,2900,1699,1907,4094,17.8,11.4,101,851,0.00,1.02,0.00,0.000,1030,0.000,0.028,2901,2125,1906,1906,4094,0,0,0,0,0,0,26.11,26.08,26.14,10.26,50.90
$GC,892,1.80,487.5,2900,2124,1905,4094,12.2,11.5,107,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1905,1905,4094,0,0,0,0,0,0,26.45,26.46,26.46,10.27,51.77
$GC,942,1.80,487.5,2901,2125,1904,4094,6.5,11.1,113,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2125,1903,1903,4095,0,0,0,0,0,0,26.48,26.50,26.50,10.28,51.81
$STATE,978,end climb,FINISH_DEPTH_REACHED
$STATE,978,begin subsurface finish
$FINISH1,1.6,1.024110,104
$GC,991,0.16,103.8,2901,2125,1902,4095,1.6,11.8,118,1010,5.22,0.00,-4.15,0.000,20486,0.025,0.000,2389,2133,2370,2370,4094,0,0,0,0,0,0,26.22,25.53,26.27,10.28,52.63
$FINISH2,0.1
$STATE,1011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1011,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,145543
$TT8_MAMPS,0.025466,0.250166
$HUMID,51.92
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.00
$XPDR_PINGS,0
$24V_AH,23.55,66.475
$10V_AH,10.10,60.792
$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,23.725,5.350,56.300,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,338.597,0.000,112.532,499.177,122.997,0.000,325.200,0.000,293.923,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1283.670,1278.315,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,80.891,326.068,257.950,382.628,497.433,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330700
$DATA_FILE_SIZE,10932,120
$CAP_FILE_SIZE,22872,0
$CFSIZE,1024409600,907935744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,160940,6002.062,-17239.008,8,0.7,14,7.6,0.0,0.0,12,4.5