version: 66.13
glider: 401
mission: 22
dive: 2233
start: 9 4 117 2 9 29
data:
$ID,401
$MISSION,22
$DIVE,2233
$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,38
$R_STBD_OVSHOOT,55
$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
$GPS1,040917,015757,6006.1128,-17248.6953,9,0.7,13,7.5,0.6,305.4,12,4.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-42.9
$GPS2,040917,020851,6006.1743,-17248.7578,10,0.9,15,7.5,0.0,301.4,10,4.8
$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,114.8,42581,-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,-487.5,231,1938,1901,4092,0.0,0.0,0,18,5.62,0.00,0.00,0.000,2049,0.093,0.000,706,1939,1902,1902,4094,0,0,0,0,0,0,26.31,28.83,28.83,10.31,50.86
$GC,25,-1.78,-487.5,706,1938,1901,4094,0.7,0.0,1,55,11.62,1.12,-10.52,0.000,18948,0.057,1.235,1764,1532,3058,3058,4095,0,0,0,0,0,0,25.96,24.02,25.99,10.31,51.18
$GC,249,-1.78,-487.5,1764,1532,3063,4095,30.5,-15.1,37,256,0.00,0.93,0.00,0.000,1030,0.000,0.026,1764,1932,3064,3064,4095,0,0,0,0,0,0,26.15,26.13,26.17,10.54,50.55
$GC,291,-1.78,-487.5,1763,1932,3065,4095,37.3,-16.6,43,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1932,3065,3065,4094,0,0,0,0,0,0,26.46,26.47,26.47,10.52,49.92
$GC,332,-1.78,-487.5,1764,1932,3066,4094,44.4,-17.8,49,339,0.00,1.12,0.00,0.000,260,0.000,0.044,1764,2364,3066,3066,4095,0,0,0,0,0,0,26.49,26.02,26.50,10.51,50.07
$STATE,434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,435,begin apogee
$GC,447,-0.45,0.0,1764,2136,3069,4094,60.1,-14.0,66,483,4.35,0.00,28.35,1.255,10244,0.031,0.000,2189,2136,2484,2484,4094,0,0,0,0,0,0,26.20,25.29,24.18,10.47,48.74
$STATE,484,end apogee,CONTROL_FINISHED_OK
$STATE,485,begin climb
$GC,490,1.78,487.5,2188,2135,2484,4094,60.7,0.0,72,532,7.45,0.00,27.70,1.227,11270,0.029,0.000,2893,2136,1919,1919,4094,0,0,0,0,0,0,25.65,25.82,23.83,10.35,47.83
$GC,567,1.79,492.7,2893,2135,1918,4094,55.4,10.5,84,575,0.00,1.10,2.30,0.188,8708,0.000,0.043,2893,1719,1910,1910,4094,0,0,0,0,0,0,25.66,25.04,23.75,10.22,46.45
$GC,622,1.79,492.7,2893,1719,1908,4094,48.4,13.3,92,629,0.00,0.95,0.00,0.000,1030,0.000,0.028,2893,2109,1908,1908,4094,0,0,0,0,0,0,25.64,25.61,25.66,10.21,47.32
$GC,664,1.79,492.7,2893,2108,1907,4094,43.0,13.0,98,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2109,1907,1907,4094,0,0,0,0,0,0,26.02,26.03,26.03,10.22,46.85
$GC,705,1.79,492.7,2893,2108,1906,4094,37.7,12.4,104,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2108,1906,1906,4094,0,0,0,0,0,0,26.12,26.13,26.13,10.23,47.40
$GC,746,1.79,492.7,2893,2108,1905,4094,32.6,12.3,110,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2109,1905,1905,4094,0,0,0,0,0,0,26.20,26.20,26.20,10.23,47.95
$GC,787,1.79,492.7,2893,2108,1904,4094,27.1,13.5,116,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2109,1903,1903,4094,0,0,0,0,0,0,26.25,26.27,26.27,10.23,48.34
$GC,827,1.79,492.7,2893,2109,1902,4094,21.8,12.9,122,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2109,1902,1902,4094,0,0,0,0,0,0,26.31,26.32,26.32,10.24,49.29
$GC,868,1.79,492.7,2893,2108,1901,4094,17.2,11.3,128,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2109,1901,1901,4094,0,0,0,0,0,0,26.35,26.36,26.36,10.26,49.76
$GC,909,1.79,492.7,2894,2108,1900,4094,12.8,10.8,134,916,0.00,1.02,0.00,0.000,516,0.000,0.045,2894,1718,1900,1900,4094,0,0,0,0,0,0,26.39,25.95,26.40,10.27,51.14
$STATE,1005,end climb,FINISH_DEPTH_REACHED
$STATE,1005,begin subsurface finish
$FINISH1,1.7,1.024090,105
$GC,1020,0.16,105.2,2893,2140,1897,4094,1.7,10.0,150,1033,5.10,0.00,-4.18,0.000,20486,0.021,0.000,2388,2149,2368,2368,4095,0,0,0,0,0,0,26.21,24.46,26.25,10.28,51.69
$FINISH2,0.0
$STATE,1034,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1034,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,005019
$TT8_MAMPS,0.025466,0.134071
$HUMID,51.85
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.50
$XPDR_PINGS,0
$24V_AH,23.75,65.461
$10V_AH,10.29,59.965
$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,34.150,7.850,58.350,0.000,0.000,26.376,20.617,319.358,0.000,0.000,17.013,398.956,244.990,134.917,536.552,375.640,0.000,301.392,0.000,231.604,0.000,0.543,0.000
$DEVICE_MAMPS,93.330,1235.475,1254.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,101.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,329292
$DATA_FILE_SIZE,10881,152
$CAP_FILE_SIZE,28581,0
$CFSIZE,1024409600,909754368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040917,020851,6006.174,-17248.758,10,0.9,15,7.5,0.0,301.4,10,4.8