version: 66.13
glider: 401
mission: 22
dive: 2239
start: 9 4 117 4 33 24
data:
$ID,401
$MISSION,22
$DIVE,2239
$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,17
$R_STBD_OVSHOOT,72
$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
$GPS1,040917,042205,6005.9941,-17246.0723,12,0.7,27,7.5,0.4,205.4,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-38.4
$GPS2,040917,043245,6005.9614,-17245.9531,11,0.8,15,7.5,0.0,226.2,12,4.7
$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,116.3,40183,-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,-487.5,230,1972,1889,4092,0.0,0.0,0,19,5.62,0.00,0.00,0.000,2049,0.092,0.000,706,1964,1889,1889,4094,0,0,0,0,0,0,26.32,28.83,28.83,10.31,50.94
$GC,25,-1.80,-487.5,705,1965,1890,4094,0.9,0.0,1,56,11.55,1.30,-10.65,0.000,18948,0.059,1.242,1755,1516,3058,3058,4094,0,0,0,0,0,0,25.93,24.03,25.98,10.31,50.78
$GC,256,-1.80,-487.5,1754,1516,3063,4094,28.4,-15.4,38,263,0.00,0.93,0.00,0.000,1030,0.000,0.026,1755,1916,3063,3063,4095,0,0,0,0,0,0,26.17,26.15,26.19,10.54,50.27
$GC,298,-1.80,-487.5,1754,1916,3064,4095,34.7,-15.2,44,305,0.00,1.17,0.00,0.000,260,0.000,0.044,1755,2367,3064,3064,4094,0,0,0,0,0,0,26.47,26.01,26.48,10.54,49.96
$GC,376,-1.80,-487.5,1754,2367,3067,4094,46.9,-14.7,56,382,0.00,1.02,0.00,0.000,1030,0.000,0.028,1755,1955,3067,3067,4094,0,0,0,0,0,0,26.20,26.18,26.24,10.52,49.37
$GC,418,-1.80,-487.5,1754,1954,3068,4094,53.2,-14.7,62,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,1955,3068,3068,4095,0,0,0,0,0,0,26.55,26.56,26.56,10.50,49.17
$STATE,428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,428,begin apogee
$GC,441,-0.45,0.0,1754,2135,3069,4095,55.9,-16.2,64,477,4.68,0.00,28.33,1.249,10244,0.054,0.000,2187,2136,2484,2484,4094,0,0,0,0,0,0,26.08,25.29,24.18,10.49,48.85
$STATE,478,end apogee,CONTROL_FINISHED_OK
$STATE,478,begin climb
$GC,484,1.80,487.5,2186,2135,2483,4094,60.1,0.0,70,525,7.50,0.00,27.77,1.221,11270,0.028,0.000,2900,2141,1915,1915,4095,0,0,0,0,0,0,25.65,25.82,23.84,10.37,48.11
$GC,561,1.81,494.0,2899,2141,1915,4095,55.1,10.7,82,569,0.00,1.15,2.28,0.173,8708,0.000,0.044,2900,1708,1907,1907,4094,0,0,0,0,0,0,25.66,25.04,23.75,10.23,47.44
$GC,745,1.81,494.0,2899,1708,1902,4094,31.5,12.2,111,751,0.00,0.98,0.00,0.000,1030,0.000,0.027,2900,2112,1902,1902,4094,0,0,0,0,0,0,25.94,25.91,25.96,10.24,48.14
$GC,786,1.81,494.0,2899,2112,1901,4094,26.4,12.3,117,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2112,1900,1900,4094,0,0,0,0,0,0,26.27,26.29,26.28,10.25,49.25
$GC,827,1.81,494.0,2899,2112,1899,4094,21.1,12.8,123,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2112,1899,1899,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.24,49.88
$GC,868,1.81,494.0,2899,2112,1898,4094,15.7,13.6,129,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2112,1898,1898,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.24,49.29
$GC,909,1.81,494.0,2899,2112,1897,4094,10.9,11.7,135,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2112,1897,1897,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.26,50.47
$GC,950,1.81,494.0,2899,2112,1896,4094,6.3,11.6,141,956,0.00,1.05,0.00,0.000,516,0.000,0.047,2900,1711,1895,1895,4095,0,0,0,0,0,0,26.44,25.98,26.45,10.27,50.94
$STATE,986,end climb,FINISH_DEPTH_REACHED
$STATE,986,begin subsurface finish
$FINISH1,1.9,1.024115,103
$GC,1001,0.16,103.5,2899,2142,1894,4094,1.9,9.7,147,1015,5.15,1.23,-4.10,0.000,20996,0.018,1.226,2385,1712,2369,2369,4095,0,0,0,0,0,0,26.21,24.16,26.25,10.28,51.45
$FINISH2,0.1
$STATE,1016,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1016,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,031418
$TT8_MAMPS,0.025466,0.161035
$HUMID,52.16
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,23.75,65.626
$10V_AH,10.23,60.103
$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,34.500,10.450,58.375,0.000,0.000,25.613,18.096,303.426,0.000,0.000,16.292,394.921,239.496,131.566,518.008,376.488,0.000,294.096,0.000,227.403,0.000,0.544,0.000
$DEVICE_MAMPS,91.800,1241.595,1249.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,99.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329320
$DATA_FILE_SIZE,10900,149
$CAP_FILE_SIZE,28196,0
$CFSIZE,1024409600,909459456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,043245,6005.961,-17245.953,11,0.8,15,7.5,0.0,226.2,12,4.7