version: 66.13
glider: 401
mission: 22
dive: 2234
start: 9 4 117 2 28 47
data:
$ID,401
$MISSION,22
$DIVE,2234
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,040917,020851,6006.1743,-17248.7578,10,0.9,15,7.5,0.0,301.4,10,4.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-4.9
$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,12,-1.78,-487.5,2388,1964,2367,4092,0.0,0.0,0,23,6.28,0.00,-2.12,0.000,20482,0.024,0.000,1770,1964,2599,2599,4094,0,0,0,0,0,0,26.25,28.83,26.29,10.38,52.24
$GC,29,-1.78,-487.5,1770,1964,2599,4094,0.0,0.0,1,38,0.00,1.27,-4.25,0.000,16900,0.000,1.248,1770,1515,3057,3057,4095,0,0,0,0,0,0,26.51,24.22,26.51,10.43,51.85
$GC,177,-1.78,-487.5,1770,1515,3061,4095,18.9,-17.2,22,186,0.00,1.02,0.00,0.000,1030,0.000,0.027,1770,1947,3061,3061,4094,0,0,0,0,0,0,26.27,26.24,26.28,10.54,52.59
$GC,227,-1.78,-487.5,1770,1946,3062,4094,27.3,-15.2,28,235,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1947,3063,3063,4095,0,0,0,0,0,0,26.58,26.58,26.58,10.53,51.61
$GC,276,-1.78,-487.5,1771,1947,3064,4095,34.8,-15.3,34,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,1947,3065,3065,4095,0,0,0,0,0,0,26.60,26.61,26.60,10.51,51.33
$GC,326,-1.78,-487.5,1770,1947,3065,4095,42.8,-16.3,40,335,0.00,1.12,0.00,0.000,260,0.000,0.046,1770,2378,3066,3066,4095,0,0,0,0,0,0,26.62,26.14,26.63,10.51,51.69
$STATE,441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,441,begin apogee
$GC,454,-0.45,0.0,1770,2107,3068,4094,60.3,-14.4,57,490,4.28,0.08,28.35,1.274,10244,0.031,0.109,2189,2143,2484,2484,4095,0,0,0,0,0,0,26.29,25.37,24.23,10.46,49.64
$STATE,491,end apogee,CONTROL_FINISHED_OK
$STATE,491,begin climb
$GC,497,1.78,487.5,2188,2143,2484,4095,60.5,0.0,61,540,7.47,0.00,27.95,1.235,11270,0.032,0.000,2893,2143,1915,1915,4095,0,0,0,0,0,0,25.72,25.89,23.86,10.34,48.93
$GC,581,1.82,517.2,2893,2143,1914,4095,55.6,10.1,71,591,0.00,1.08,3.53,0.563,8708,0.000,0.041,2894,1725,1880,1880,4094,0,0,0,0,0,0,25.72,24.69,23.86,10.21,47.40
$GC,715,1.82,517.2,2893,1724,1876,4094,38.8,12.0,90,725,0.00,0.98,0.00,0.000,1030,0.000,0.029,2894,2123,1876,1876,4094,0,0,0,0,0,0,25.85,25.82,25.86,10.21,48.42
$GC,765,1.82,517.2,2894,2123,1875,4094,32.9,12.5,96,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2123,1875,1875,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.22,48.62
$GC,813,1.82,517.2,2894,2123,1874,4094,26.9,12.0,102,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2123,1873,1873,4094,0,0,0,0,0,0,26.28,26.30,26.29,10.22,49.33
$GC,860,1.82,517.2,2893,2123,1872,4094,21.5,11.4,108,869,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2123,1872,1872,4095,0,0,0,0,0,0,26.34,26.35,26.35,10.24,49.48
$GC,908,1.89,560.8,2893,2123,1871,4095,16.5,9.9,114,917,0.25,0.00,3.75,0.412,10246,0.044,0.000,2930,2123,1828,1828,4094,0,0,0,0,0,0,26.13,25.46,24.46,10.25,51.14
$GC,958,1.89,560.8,2929,2124,1827,4094,11.0,11.9,120,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2124,1827,1827,4094,0,0,0,0,0,0,26.39,26.41,26.41,10.25,51.41
$GC,1008,1.89,560.8,2929,2123,1826,4094,5.0,12.5,126,1017,0.00,1.02,0.00,0.000,516,0.000,0.041,2930,1729,1825,1825,4094,0,0,0,0,0,0,26.44,26.01,26.45,10.26,52.16
$STATE,1032,end climb,FINISH_DEPTH_REACHED
$STATE,1032,begin subsurface finish
$FINISH1,1.4,1.024103,104
$GC,1046,0.16,104.3,2929,2144,1824,4094,1.4,11.9,129,1066,5.47,1.17,-4.82,0.000,20996,0.022,1.238,2386,1736,2367,2367,4094,0,0,0,0,0,0,26.20,24.19,26.25,10.26,51.73
$FINISH2,0.1
$STATE,1067,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1067,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,005019
$TT8_MAMPS,0.025466,0.253911
$HUMID,51.96
$INTERNAL_PRESSURE,10.3067
$TCM_TEMP,5.80
$XPDR_PINGS,1
$24V_AH,23.86,65.483
$10V_AH,10.10,59.995
$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,23.750,9.900,63.575,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,373.942,0.000,103.268,543.162,108.053,0.000,307.356,0.000,319.205,0.000,0.544,0.000
$DEVICE_MAMPS,44.370,1247.715,1274.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,0.000,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.051,355.925,281.645,417.403,541.711,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330660
$DATA_FILE_SIZE,14397,131
$CAP_FILE_SIZE,23893,0
$CFSIZE,1024409600,909705216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,020851,6006.174,-17248.758,10,0.9,15,7.5,0.0,301.4,10,4.8