version: 66.13
glider: 401
mission: 22
dive: 2440
start: 9 7 117 12 7 10
data:
$ID,401
$MISSION,22
$DIVE,2440
$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,16
$R_STBD_OVSHOOT,57
$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
$GPS1,070917,115602,5951.3765,-17149.7207,2,0.7,24,8.0,0.7,155.5,11,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-37.3
$GPS2,070917,120631,5951.3198,-17149.8027,10,0.7,14,8.0,0.0,0.0,11,4.9
$SPEED_LIMITS,0.231,0.398
$TGT_NAME,W23S
$TGT_LATLONG,5946.620,-17127.000
$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,104.3,22971,-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,-487.5,240,1960,1873,4092,0.0,0.0,0,22,8.52,0.00,0.00,0.000,2049,0.095,0.000,953,1960,1872,1872,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.26,52.20
$GC,28,-1.80,-487.5,953,1960,1872,4094,0.7,0.0,1,56,8.55,1.27,-11.35,0.000,18948,0.037,1.229,1756,1514,3053,3053,4094,0,0,0,0,0,0,25.93,23.82,26.01,10.27,52.52
$GC,233,-1.80,-487.5,1755,1513,3059,4094,28.0,-17.5,29,242,0.00,0.98,0.00,0.000,1030,0.000,0.026,1756,1931,3059,3059,4095,0,0,0,0,0,0,26.13,26.10,26.15,10.50,51.92
$GC,284,-1.80,-487.5,1755,1931,3060,4095,34.9,-13.4,35,292,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1931,3060,3060,4095,0,0,0,0,0,0,26.46,26.47,26.46,10.45,50.31
$GC,333,-1.80,-487.5,1755,1932,3061,4095,41.8,-14.2,41,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1932,3061,3061,4095,0,0,0,0,0,0,26.49,26.50,26.50,10.43,48.74
$GC,382,-1.80,-487.5,1755,1932,3062,4095,48.7,-13.8,47,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,1932,3062,3062,4094,0,0,0,0,0,0,26.52,26.53,26.53,10.41,47.79
$STATE,427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,427,begin apogee
$GC,440,-0.45,0.0,1755,2134,3064,4094,56.0,-14.2,53,476,4.65,0.00,28.45,1.270,10244,0.055,0.000,2186,2134,2484,2484,4094,0,0,0,0,0,0,26.06,25.18,23.97,10.40,46.77
$STATE,477,end apogee,CONTROL_FINISHED_OK
$STATE,478,begin climb
$GC,484,1.80,487.5,2186,2134,2484,4094,60.3,0.0,57,528,7.62,0.00,28.38,1.245,11270,0.029,0.000,2901,2134,1914,1914,4094,0,0,0,0,0,0,25.62,25.81,23.63,10.27,46.41
$GC,570,1.80,487.5,2901,2134,1912,4094,54.1,12.4,67,579,0.00,1.17,0.00,0.000,516,0.000,0.044,2901,1700,1912,1912,4094,0,0,0,0,0,0,25.66,25.28,25.67,10.14,45.39
$GC,723,1.80,487.5,2901,1700,1907,4094,33.3,13.6,89,733,0.00,1.05,0.00,0.000,1030,0.000,0.029,2901,2127,1907,1907,4094,0,0,0,0,0,0,25.85,25.83,25.86,10.12,46.65
$GC,773,1.80,487.5,2900,2127,1906,4094,26.7,12.9,95,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2127,1905,1905,4094,0,0,0,0,0,0,26.22,26.24,26.24,10.13,46.81
$GC,822,1.93,572.3,2901,2127,1905,4094,21.7,9.5,101,832,0.32,0.00,5.88,0.619,10246,0.035,0.000,2942,2127,1816,1816,4095,0,0,0,0,0,0,26.06,25.32,24.28,10.18,48.14
$GC,874,1.93,572.3,2941,2127,1814,4095,15.9,11.8,107,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2128,1814,1814,4094,0,0,0,0,0,0,26.28,26.29,26.29,10.18,50.07
$GC,924,1.93,572.3,2941,2127,1813,4094,9.6,12.7,113,933,0.00,1.12,0.00,0.000,516,0.000,0.046,2942,1703,1812,1812,4094,0,0,0,0,0,0,26.34,25.87,26.34,10.19,52.12
$STATE,974,end climb,FINISH_DEPTH_REACHED
$STATE,974,begin subsurface finish
$FINISH1,2.0,1.024224,96
$GC,989,0.14,95.9,2942,2141,1810,4094,2.0,13.3,120,1008,5.68,1.23,-5.22,0.000,20996,0.022,1.216,2386,1701,2378,2378,4094,0,0,0,0,0,0,26.11,23.97,26.16,10.20,52.00
$FINISH2,0.0
$STATE,1009,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1010,begin surface
$IRIDIUM_FIX,5955.74,-17228.01,070917,105151
$TT8_MAMPS,0.025466,0.252413
$HUMID,52.40
$INTERNAL_PRESSURE,10.2676
$TCM_TEMP,5.10
$XPDR_PINGS,0
$24V_AH,23.63,71.422
$10V_AH,9.99,64.632
$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,35.350,8.475,62.700,0.000,0.000,22.254,19.906,282.807,0.000,0.000,15.905,358.815,0.000,104.095,788.797,390.547,0.000,309.739,0.000,302.207,0.000,0.543,0.000
$DEVICE_MAMPS,94.860,1228.590,1269.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,83.287,331.555,262.334,389.115,508.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,329288
$DATA_FILE_SIZE,10810,122
$CAP_FILE_SIZE,25889,0
$CFSIZE,1024409600,899547136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,070917,120631,5951.320,-17149.803,10,0.7,14,8.0,0.0,0.0,11,4.9