version: 66.13
glider: 401
mission: 22
dive: 2232
start: 9 4 117 1 37 32
data:
$ID,401
$MISSION,22
$DIVE,2232
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,0
$D_TGT,60
$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,19
$T_MISSION,32
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,040917,005626,6005.9771,-17249.2090,6,0.9,52,7.5,0.0,264.2,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-2.9
$GPS2,040917,005626,6005.9771,-17249.2090,6,0.9,52,7.5,0.0,264.2,9,4.9
$SPEED_LIMITS,0.226,0.395
$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,114.1,42743,-11.5,-10.526,-14.94,6951
$D_GRID,60
$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,-1.78,-487.5,2391,1940,2367,4092,0.0,0.0,0,22,6.28,0.00,-2.15,0.000,20482,0.023,0.000,1774,1941,2600,2600,4094,0,0,0,0,0,0,26.22,28.83,26.27,10.38,53.11
$GC,28,-1.78,-487.5,1773,1941,2600,4094,0.2,0.0,1,38,0.00,1.10,-4.20,0.000,16900,0.000,1.245,1773,1532,3055,3055,4094,0,0,0,0,0,0,26.52,24.27,26.53,10.42,52.52
$GC,219,-1.78,-487.5,1773,1531,3061,4094,26.5,-15.5,28,228,0.00,0.98,0.00,0.000,1030,0.000,0.027,1773,1952,3061,3061,4094,0,0,0,0,0,0,26.28,26.25,26.29,10.51,52.24
$GC,267,-1.78,-487.5,1773,1952,3061,4094,34.8,-15.8,34,276,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,1952,3062,3062,4095,0,0,0,0,0,0,26.58,26.59,26.59,10.50,51.85
$GC,315,-1.78,-487.5,1773,1952,3063,4095,42.2,-15.5,40,325,0.00,1.08,0.00,0.000,260,0.000,0.045,1773,2366,3064,3064,4094,0,0,0,0,0,0,26.60,26.10,26.61,10.49,51.10
$GC,429,-1.78,-487.5,1773,2365,3067,4094,58.2,-13.1,56,438,0.00,0.98,0.00,0.000,1030,0.000,0.028,1773,1974,3067,3067,4094,0,0,0,0,0,0,26.36,26.32,26.36,10.46,49.92
$STATE,445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,445,begin apogee
$GC,458,-0.45,0.0,1773,2173,3066,4095,60.5,-11.9,58,495,4.25,0.10,28.15,1.252,10244,0.030,0.085,2192,2122,2484,2484,4094,0,0,0,0,0,0,26.31,25.38,24.26,10.45,49.76
$STATE,496,end apogee,CONTROL_FINISHED_OK
$STATE,496,begin climb
$GC,502,1.78,487.5,2191,2122,2484,4094,60.6,0.0,62,546,7.40,0.00,27.90,1.226,11270,0.034,0.000,2893,2123,1916,1916,4094,0,0,0,0,0,0,25.72,25.91,23.89,10.33,48.50
$GC,587,1.78,487.5,2893,2122,1915,4094,55.2,10.6,72,596,0.00,1.05,0.00,0.000,516,0.000,0.045,2893,1719,1915,1915,4094,0,0,0,0,0,0,25.73,25.37,25.74,10.20,47.95
$GC,855,1.78,487.5,2893,1718,1908,4094,21.8,11.1,111,865,0.00,0.85,0.00,0.000,1030,0.000,0.027,2893,2082,1908,1908,4094,0,0,0,0,0,0,26.07,26.03,26.09,10.23,50.51
$GC,905,1.78,487.5,2893,2081,1906,4094,16.8,10.7,117,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2082,1906,1906,4094,0,0,0,0,0,0,26.39,26.40,26.40,10.24,51.49
$GC,953,1.78,487.5,2893,2081,1905,4094,11.5,10.9,123,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2082,1905,1905,4095,0,0,0,0,0,0,26.43,26.44,26.44,10.26,51.29
$GC,1000,1.78,487.5,2893,2081,1904,4095,6.0,11.9,129,1009,0.00,0.93,0.00,0.000,516,0.000,0.046,2893,1726,1903,1903,4094,0,0,0,0,0,0,26.46,26.01,26.48,10.26,52.48
$STATE,1037,end climb,SURFACE_DEPTH_REACHED
$STATE,1037,begin surface coast
$FINISH,-0.0,1.023778
$STATE,1059,end surface coast,CONTROL_FINISHED_OK
$STATE,1059,begin surface
$SM_CCo,1167,0.00,0.000,0,0,1901,500.56
$SM_GC,0.97,27.52,0.43,0.00,0.018,0.037,0.000,231,1934,1901,-6.59,-3.42,500.56,0,0,0,0,0,0,25.89,26.25,26.03
$IRIDIUM_FIX,5925.93,-17425.36,030917,233737
$TT8_MAMPS,0.025466,0.247919
$HUMID,52.00
$INTERNAL_PRESSURE,10.209
$TCM_TEMP,5.50
$XPDR_PINGS,0
$24V_AH,23.89,65.420
$10V_AH,10.12,59.947
$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,45.450,8.300,56.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,384.000,60.079,111.031,569.573,112.336,0.000,299.124,0.000,334.218,0.000,0.542,0.000
$DEVICE_MAMPS,33.660,1244.655,1252.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,93.878,372.275,294.556,436.923,569.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330732
$DATA_FILE_SIZE,14431,137
$CAP_FILE_SIZE,22569,0
$CFSIZE,1024409600,909803520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,015757,6006.113,-17248.695,9,0.7,13,7.5,0.6,305.4,12,4.7