version: 66.13
glider: 401
mission: 22
dive: 2238
start: 9 4 117 4 1 40
data:
$ID,401
$MISSION,22
$DIVE,2238
$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,32
$R_STBD_OVSHOOT,35
$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
$GPS1,040917,032015,6006.1729,-17247.6055,10,0.9,25,7.5,0.3,105.1,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-1.7
$GPS2,040917,032015,6006.1729,-17247.6055,10,0.9,25,7.5,0.3,105.1,10,5.0
$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,115.6,41679,-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,-487.5,2390,1946,2368,4092,0.0,0.0,0,30,6.22,0.00,-6.38,0.000,20486,0.018,0.000,1771,1947,3053,3053,4094,0,0,0,0,0,0,26.27,25.53,26.32,10.38,52.67
$GC,36,-1.78,-487.5,1770,1946,3052,4094,0.0,-0.7,2,45,0.00,1.08,0.00,0.000,516,0.000,0.057,1771,1524,3053,3053,4095,0,0,0,0,0,0,26.44,26.01,26.45,10.53,52.75
$GC,228,-1.78,-487.5,1770,1524,3059,4095,30.2,-16.1,30,238,0.00,1.00,0.00,0.000,1030,0.000,0.026,1771,1952,3059,3059,4094,0,0,0,0,0,0,26.29,26.27,26.31,10.51,51.96
$GC,277,-1.78,-487.5,1770,1952,3060,4094,38.0,-15.4,36,286,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,1952,3060,3060,4095,0,0,0,0,0,0,26.60,26.62,26.61,10.50,51.29
$GC,325,-1.78,-487.5,1770,1952,3062,4095,45.8,-16.5,42,334,0.00,1.08,0.00,0.000,260,0.000,0.044,1770,2366,3062,3062,4095,0,0,0,0,0,0,26.62,26.16,26.63,10.49,50.94
$STATE,420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,420,begin apogee
$GC,433,-0.45,0.0,1770,2122,3064,4094,60.0,-12.8,56,469,4.18,0.00,28.10,1.251,10244,0.032,0.000,2176,2122,2484,2484,4094,0,0,0,0,0,0,26.31,25.39,24.27,10.47,50.63
$STATE,470,end apogee,CONTROL_FINISHED_OK
$STATE,470,begin climb
$GC,475,1.78,487.5,2176,2121,2483,4094,60.1,0.0,60,520,7.60,0.00,27.92,1.224,11270,0.033,0.000,2892,2122,1914,1914,4094,0,0,0,0,0,0,25.73,25.91,23.87,10.33,49.09
$GC,561,1.79,498.0,2892,2121,1914,4094,54.9,10.4,70,570,0.00,0.00,2.45,0.251,8198,0.000,0.000,2893,2121,1903,1903,4094,0,0,0,0,0,0,25.75,24.58,23.78,10.22,47.63
$GC,611,1.79,498.0,2892,2121,1902,4094,49.5,11.7,76,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2122,1901,1901,4094,0,0,0,0,0,0,25.93,25.95,25.94,10.22,48.22
$GC,660,1.79,498.0,2892,2121,1900,4094,43.4,12.5,82,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2121,1900,1900,4094,0,0,0,0,0,0,26.07,26.08,26.08,10.23,47.79
$GC,710,1.79,498.0,2892,2121,1899,4094,37.6,11.2,88,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2122,1899,1899,4095,0,0,0,0,0,0,26.17,26.19,26.18,10.22,48.85
$GC,759,1.79,498.0,2892,2121,1898,4095,32.0,11.8,94,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2122,1897,1897,4094,0,0,0,0,0,0,26.25,26.27,26.26,10.22,48.81
$GC,809,1.79,498.0,2892,2121,1896,4094,26.1,12.3,100,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2121,1896,1896,4094,0,0,0,0,0,0,26.32,26.33,26.32,10.23,49.52
$GC,858,1.79,498.0,2892,2121,1895,4094,20.0,11.7,106,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2121,1894,1894,4094,0,0,0,0,0,0,26.37,26.39,26.38,10.24,49.72
$GC,908,1.79,498.0,2892,2121,1893,4094,14.5,11.3,112,917,0.00,1.02,0.00,0.000,516,0.000,0.045,2893,1727,1893,1893,4094,0,0,0,0,0,0,26.41,25.97,26.43,10.26,50.90
$STATE,1018,end climb,SURFACE_DEPTH_REACHED
$STATE,1018,begin surface coast
$FINISH,0.2,1.024200
$STATE,1041,end surface coast,CONTROL_FINISHED_OK
$STATE,1046,begin surface
$SM_CCo,1153,0.00,0.000,0,0,1890,511.73
$SM_GC,0.90,27.58,0.52,0.00,0.018,0.031,0.000,230,1989,1890,-6.59,-1.59,511.73,0,0,0,0,0,0,25.95,26.28,26.07
$IRIDIUM_FIX,5925.93,-17425.36,040917,020231
$TT8_MAMPS,0.024717,0.253911
$HUMID,51.69
$INTERNAL_PRESSURE,10.2188
$TCM_TEMP,5.60
$XPDR_PINGS,0
$24V_AH,23.78,65.585
$10V_AH,10.11,60.085
$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,45.575,5.750,58.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.126,59.758,121.062,546.752,117.706,0.000,319.885,0.000,320.819,0.000,0.544,0.000
$DEVICE_MAMPS,32.895,56.610,1250.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,89.337,355.947,281.625,417.353,545.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,17.800,17.800,0.000,0.000,0.000,0.000,0.000
$MEM,330756
$DATA_FILE_SIZE,14344,131
$CAP_FILE_SIZE,22725,0
$CFSIZE,1024409600,909508608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,042205,6005.994,-17246.072,12,0.7,27,7.5,0.4,205.4,11,4.7