version: 66.13
glider: 401
mission: 22
dive: 2247
start: 9 4 117 7 34 47
data:
$ID,401
$MISSION,22
$DIVE,2247
$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,22
$R_STBD_OVSHOOT,34
$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
$GPS1,040917,065640,6005.0742,-17242.7754,4,0.9,32,7.5,0.4,217.9,9,4.9
$_CALLS,6
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-1.7
$GPS2,040917,065640,6005.0742,-17242.7754,4,0.9,32,7.5,0.4,217.9,9,4.9
$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,116.8,36817,-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,-487.5,2391,1958,2367,4092,0.0,0.0,0,25,6.38,0.00,-4.65,0.000,20482,0.021,0.000,1763,1958,2882,2882,4095,0,0,0,0,0,0,26.18,28.83,26.21,10.38,51.65
$GC,31,-1.80,-487.5,1763,1958,2882,4095,0.0,-0.5,2,39,0.00,1.20,-1.58,0.000,16644,0.000,1.218,1763,2375,3055,3055,4095,0,0,0,0,0,0,26.45,24.22,26.40,10.50,51.33
$GC,92,-1.80,-487.5,1762,2374,3057,4095,6.3,-16.0,11,98,0.00,1.08,0.00,0.000,1030,0.000,0.028,1763,1946,3057,3057,4094,0,0,0,0,0,0,26.13,26.10,26.15,10.54,51.57
$GC,133,-1.80,-487.5,1762,1945,3058,4094,14.1,-18.4,17,139,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3059,3059,4095,0,0,0,0,0,0,26.46,26.48,26.47,10.55,51.29
$GC,174,-1.80,-487.5,1762,1946,3060,4095,21.4,-17.4,23,180,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3060,3060,4094,0,0,0,0,0,0,26.49,26.51,26.50,10.54,51.57
$GC,215,-1.80,-487.5,1762,1945,3061,4094,28.5,-16.8,29,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1945,3062,3062,4095,0,0,0,0,0,0,26.52,26.53,26.53,10.53,51.22
$GC,256,-1.80,-487.5,1762,1945,3063,4095,35.4,-16.8,35,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3063,3063,4095,0,0,0,0,0,0,26.54,26.55,26.55,10.52,50.70
$GC,297,-1.80,-487.5,1762,1945,3064,4095,42.1,-16.5,41,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3064,3064,4095,0,0,0,0,0,0,26.56,26.58,26.58,10.51,50.78
$GC,338,-1.80,-487.5,1762,1945,3065,4095,48.5,-15.3,47,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,1946,3065,3065,4094,0,0,0,0,0,0,26.58,26.60,26.60,10.50,50.15
$STATE,374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,374,begin apogee
$GC,386,-0.45,0.0,1763,2141,3066,4095,55.1,-15.9,53,422,4.55,0.00,28.10,1.236,10244,0.054,0.000,2186,2141,2484,2484,4095,0,0,0,0,0,0,26.14,25.35,24.24,10.49,50.07
$STATE,423,end apogee,CONTROL_FINISHED_OK
$STATE,423,begin climb
$GC,429,1.80,487.5,2185,2141,2483,4095,59.1,0.0,59,471,7.53,1.10,27.73,1.213,10500,0.031,0.049,2901,2556,1915,1915,4094,0,0,0,0,0,0,25.59,25.54,23.89,10.37,49.05
$GC,482,1.89,547.8,2900,2556,1915,4094,56.3,9.9,67,496,0.22,1.08,5.20,0.787,11270,0.031,0.025,2933,2131,1845,1845,4094,0,0,0,0,0,0,25.32,25.29,23.90,10.25,48.18
$GC,532,1.89,547.8,2933,2131,1844,4094,50.4,12.9,74,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2131,1844,1844,4094,0,0,0,0,0,0,25.76,25.77,25.77,10.22,47.91
$GC,572,1.89,547.8,2933,2131,1842,4094,45.3,12.3,80,579,0.00,1.08,0.00,0.000,516,0.000,0.045,2934,1718,1843,1843,4094,0,0,0,0,0,0,25.93,25.54,25.94,10.22,48.30
$GC,716,1.89,547.8,2933,1717,1839,4094,27.2,13.0,103,723,0.00,0.98,0.00,0.000,1030,0.000,0.028,2933,2121,1838,1838,4094,0,0,0,0,0,0,25.97,25.94,26.00,10.22,48.97
$GC,758,1.89,547.8,2933,2121,1837,4094,21.4,14.4,109,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2121,1837,1837,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.23,49.72
$GC,799,1.89,547.8,2933,2120,1836,4094,16.0,12.8,115,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2121,1836,1836,4094,0,0,0,0,0,0,26.36,26.37,26.36,10.25,50.19
$GC,840,1.89,547.8,2933,2121,1834,4094,11.0,12.3,121,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2121,1834,1834,4094,0,0,0,0,0,0,26.40,26.41,26.41,10.27,50.82
$GC,880,1.89,547.8,2933,2120,1833,4094,6.0,12.3,127,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2121,1833,1833,4094,0,0,0,0,0,0,26.44,26.44,26.44,10.27,51.45
$STATE,910,end climb,SURFACE_DEPTH_REACHED
$STATE,910,begin surface coast
$FINISH,0.4,1.024124
$STATE,925,end surface coast,CONTROL_FINISHED_OK
$STATE,925,begin surface
$SM_CCo,1033,0.00,0.000,0,0,1831,561.52
$SM_GC,0.76,27.95,0.43,0.00,0.019,0.053,0.000,239,1962,1831,-6.55,1.69,561.52,0,0,0,0,0,0,26.22,26.09,26.25
$IRIDIUM_FIX,5925.93,-17425.36,040917,064958
$TT8_MAMPS,0.025466,0.103362
$HUMID,51.53
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,6.10
$XPDR_PINGS,0
$24V_AH,23.89,65.848
$10V_AH,10.37,60.273
$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,46.625,7.775,61.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,363.265,261.363,156.522,195.860,126.372,0.000,310.271,0.000,204.490,0.000,0.543,0.000
$DEVICE_MAMPS,53.550,1217.880,1236.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,88.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,10766,134
$CAP_FILE_SIZE,26199,0
$CFSIZE,1024409600,909066240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,075311,6004.595,-17241.826,6,0.9,26,7.5,0.3,231.9,9,5.0