version: 66.13
glider: 401
mission: 22
dive: 2243
start: 9 4 117 5 58 53
data:
$ID,401
$MISSION,22
$DIVE,2243
$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,26
$R_STBD_OVSHOOT,26
$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
$GPS1,040917,053913,6005.6001,-17244.3652,11,0.7,15,7.5,0.0,0.0,11,4.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-4.1
$GPS2,040917,053913,6005.6001,-17244.3652,11,0.7,15,7.5,0.0,0.0,11,4.5
$SPEED_LIMITS,0.231,0.398
$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,116.7,38586,-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,-487.5,2390,1944,2367,4093,0.0,0.0,0,19,5.65,0.00,0.00,0.000,4097,0.041,0.000,1850,1944,2367,2367,4094,0,0,0,0,0,0,26.47,28.83,28.83,10.39,50.94
$GC,25,-1.80,-487.5,1850,1944,2367,4094,0.1,0.0,1,39,0.80,1.12,-6.28,0.000,20996,0.030,1.240,1765,1521,3053,3053,4095,0,0,0,0,0,0,26.16,24.23,26.19,10.39,51.06
$GC,239,-1.80,-487.5,1764,1520,3060,4095,29.4,-17.9,35,245,0.00,1.02,0.00,0.000,1030,0.000,0.026,1764,1956,3060,3060,4094,0,0,0,0,0,0,26.26,26.23,26.28,10.54,50.94
$GC,281,-1.80,-487.5,1764,1956,3061,4094,36.3,-16.6,41,287,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,1956,3061,3061,4094,0,0,0,0,0,0,26.56,26.57,26.57,10.53,50.66
$GC,322,-1.80,-487.5,1764,1955,3061,4094,43.1,-16.3,47,328,0.00,1.08,0.00,0.000,260,0.000,0.045,1764,2369,3062,3062,4094,0,0,0,0,0,0,26.58,26.13,26.59,10.52,50.55
$STATE,400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,400,begin apogee
$GC,413,-0.45,0.0,1764,2103,3065,4095,55.3,-14.9,60,450,4.55,0.08,27.98,1.233,10244,0.055,0.116,2185,2145,2484,2484,4094,0,0,0,0,0,0,26.15,25.37,24.27,10.50,49.60
$STATE,451,end apogee,CONTROL_FINISHED_OK
$STATE,451,begin climb
$GC,456,1.80,487.5,2185,2145,2484,4094,59.5,0.0,66,498,7.50,0.00,27.83,1.216,11270,0.027,0.000,2898,2152,1915,1915,4095,0,0,0,0,0,0,25.67,25.89,23.88,10.37,49.25
$GC,533,1.94,576.5,2898,2149,1914,4095,55.2,9.4,78,547,0.40,1.02,6.70,0.890,10756,0.034,0.041,2944,1739,1811,1811,4094,0,0,0,0,0,0,25.48,24.70,23.93,10.24,47.36
$GC,687,1.94,576.5,2943,1739,1807,4094,34.9,12.6,102,694,0.00,0.90,0.00,0.000,1030,0.000,0.028,2944,2112,1806,1806,4095,0,0,0,0,0,0,25.89,25.84,25.89,10.22,48.58
$GC,730,1.94,576.5,2943,2112,1805,4095,29.7,12.4,108,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2112,1805,1805,4094,0,0,0,0,0,0,26.21,26.22,26.22,10.22,49.72
$GC,771,1.94,576.5,2943,2112,1804,4094,24.7,12.6,114,776,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2113,1803,1803,4094,0,0,0,0,0,0,26.27,26.29,26.29,10.22,49.37
$GC,811,1.94,576.5,2943,2112,1803,4094,19.9,11.0,120,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2112,1803,1803,4094,0,0,0,0,0,0,26.32,26.34,26.34,10.23,50.43
$GC,852,1.94,576.5,2943,2112,1802,4094,15.2,11.6,126,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2112,1802,1802,4094,0,0,0,0,0,0,26.36,26.38,26.38,10.25,51.02
$GC,893,1.94,576.5,2943,2112,1801,4094,10.4,11.4,132,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2113,1800,1800,4094,0,0,0,0,0,0,26.41,26.42,26.41,10.26,51.33
$GC,934,1.94,576.5,2943,2112,1800,4094,5.2,12.8,138,941,0.00,0.98,0.00,0.000,516,0.000,0.039,2944,1732,1799,1799,4094,0,0,0,0,0,0,26.44,26.03,26.45,10.26,50.98
$STATE,958,end climb,FINISH_DEPTH_REACHED
$STATE,959,begin subsurface finish
$FINISH1,1.7,1.024127,103
$GC,973,0.15,102.7,2944,2144,1797,4094,1.7,11.2,142,987,5.65,0.00,-5.03,0.000,20486,0.022,0.000,2390,2144,2370,2370,4095,0,0,0,0,0,0,26.17,24.49,26.22,10.26,51.57
$FINISH2,-0.0
$STATE,988,end subsurface finish,CONTROL_FINISHED_OK
$STATE,988,begin surface
$IRIDIUM_FIX,5925.93,-17425.36,040917,042638
$TT8_MAMPS,0.025466,0.108605
$HUMID,51.89
$INTERNAL_PRESSURE,10.3165
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,23.88,65.732
$10V_AH,10.36,60.185
$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,24.550,8.325,62.500,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,377.253,233.515,122.626,209.971,106.987,0.000,275.764,0.000,218.781,0.000,0.542,0.000
$DEVICE_MAMPS,55.080,1240.065,1233.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4831,WL_blue_red_Chl,SAT1000,SAT1001,nil,nil,nil,nil,nil
$SENSOR_SECS,95.995,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330728
$DATA_FILE_SIZE,10816,144
$CAP_FILE_SIZE,23042,0
$CFSIZE,1024409600,909262848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040917,053913,6005.600,-17244.365,11,0.7,15,7.5,0.0,0.0,11,4.5